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AP_NavEKF: Fix bug affecting in-flight GPS acquisition

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This bug caused velocities to be reset to zero
This commit is contained in:
Paul Riseborough 2015-03-16 10:51:19 -07:00 committed by Andrew Tridgell
parent b9b6938b1d
commit 1c244af3d8
1 changed files with 1 additions and 0 deletions
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libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -4014,6 +4014,7 @@ void NavEKF::readGpsData()
if (vehicleArmed && _fusionModeGPS != 3) { if (vehicleArmed && _fusionModeGPS != 3) {
constPosMode = false; constPosMode = false;
PV_AidingMode = AID_ABSOLUTE; PV_AidingMode = AID_ABSOLUTE;
gpsNotAvailable = false;
// Initialise EKF position and velocity states // Initialise EKF position and velocity states
ResetPosition(); ResetPosition();
ResetVelocity(); ResetVelocity();