mirror of https://github.com/ArduPilot/ardupilot
AP_NavEKF: Correctly report position timeout when GPS is lost
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@ -1928,7 +1928,10 @@ void NavEKF::FuseVelPosNED()
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// use position data if healthy, timed out, or in constant position mode
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if (posHealth || posTimeout || constPosMode) {
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posHealth = true;
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posFailTime = imuSampleTime_ms;
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// We don't reset the failed time if we are in constant position mode
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if (!constPosMode) {
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posFailTime = imuSampleTime_ms;
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}
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// if timed out or outside the specified glitch radius, increment the offset applied to GPS data to compensate for large GPS position jumps
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if (posTimeout || (maxPosInnov2 > sq(float(_gpsGlitchRadiusMax)))) {
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gpsPosGlitchOffsetNE.x += posInnov[0];
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