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Rover: remove duplicate setting of ground_speed

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update_ahrs already does this using a slightly different method, having both likely leads to small twitches in ground speed at 10hz
This commit is contained in:
Randy Mackay 2017-08-03 11:06:39 +09:00
parent e88b1572b6
commit 1e8e3609c6
1 changed files with 2 additions and 4 deletions
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6
APMrover2/APMrover2.cpp
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@ -179,6 +179,8 @@ void Rover::ahrs_update()
Vector3f velocity; Vector3f velocity;
if (ahrs.get_velocity_NED(velocity)) { if (ahrs.get_velocity_NED(velocity)) {
ground_speed = norm(velocity.x, velocity.y); ground_speed = norm(velocity.x, velocity.y);
} else if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
ground_speed = ahrs.groundspeed();
} }
if (should_log(MASK_LOG_ATTITUDE_FAST)) { if (should_log(MASK_LOG_ATTITUDE_FAST)) {
@ -391,10 +393,6 @@ void Rover::update_GPS_10Hz(void)
set_system_time_from_GPS(); set_system_time_from_GPS();
if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) { if (gps.status() >= AP_GPS::GPS_OK_FIX_3D) {
// get ground speed estimate from AHRS
ground_speed = ahrs.groundspeed();
#if CAMERA == ENABLED #if CAMERA == ENABLED
camera.update(); camera.update();
#endif #endif