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AP_NavEKF2: Clean up GPS timeout logic

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Paul Riseborough 2015-10-29 17:57:56 +11:00 committed by Randy Mackay
parent f67f6b01f4
commit 0b1a6a2157
1 changed files with 21 additions and 24 deletions
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45
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
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@ -558,37 +558,34 @@ void NavEKF2_core::readGpsData()
// If we haven't received GPS data for a while and we are using it for aiding, then declare the position and velocity data as being timed out
if (imuSampleTime_ms - lastTimeGpsReceived_ms > gpsFailTimeout_ms) {
// Let other processes know that GPS i snota vailable and that a timeout has occurred
// Let other processes know that GPS is not available and that a timeout has occurred
posTimeout = true;
velTimeout = true;
gpsNotAvailable = true;
// If we are currently reliying on GPS for navigation, then we need to switch to a non-GPS mode of operation
if (PV_AidingMode == AID_ABSOLUTE) {
// If we are totally reliant on GPS for navigation, then we need to switch to a non-GPS mode of operation
// If we don't have airspeed or sideslip assumption or optical flow to constrain drift, then go into constant position mode.
// If we can do optical flow nav (valid flow data and height above ground estimate), then go into flow nav mode.
if (PV_AidingMode == AID_ABSOLUTE && !useAirspeed() && !assume_zero_sideslip()) {
if (optFlowBackupAvailable) {
// we can do optical flow only nav
frontend._fusionModeGPS = 3;
PV_AidingMode = AID_RELATIVE;
} else {
// store the current position
lastKnownPositionNE.x = stateStruct.position.x;
lastKnownPositionNE.y = stateStruct.position.y;
// If we don't have airspeed or sideslip assumption or optical flow to constrain drift, then go into constant position mode.
// If we can do optical flow nav (valid flow data and height above ground estimate), then go into flow nav mode.
if (!useAirspeed() && !assume_zero_sideslip()) {
if (optFlowBackupAvailable) {
// we can do optical flow only nav
frontend._fusionModeGPS = 3;
PV_AidingMode = AID_RELATIVE;
} else {
// store the current position
lastKnownPositionNE.x = stateStruct.position.x;
lastKnownPositionNE.y = stateStruct.position.y;
// put the filter into constant position mode
PV_AidingMode = AID_NONE;
// put the filter into constant position mode
PV_AidingMode = AID_NONE;
// Reset the velocity and position states
ResetVelocity();
ResetPosition();
// Reset the velocity and position states
ResetVelocity();
ResetPosition();
// Reset the normalised innovation to avoid false failing the bad position fusion test
velTestRatio = 0.0f;
posTestRatio = 0.0f;
}
// Reset the normalised innovation to avoid false failing the bad position fusion test
velTestRatio = 0.0f;
posTestRatio = 0.0f;
}
}
}