Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_VisualOdom: fix T265 criteria for aligning to AHRS

This commit is contained in:
Randy Mackay 2021-02-04 20:37:06 +09:00 committed by Andrew Tridgell
parent f53242b323
commit 1ee7f00192
1 changed files with 7 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
libraries/AP_VisualOdom/AP_VisualOdom_IntelT265.cpp
View File

@ -135,8 +135,13 @@ bool AP_VisualOdom_IntelT265::align_sensor_to_vehicle(const Vector3f &position,
return false;
}
// if ahrs's yaw is from the compass, wait until it has been initialised
if (!AP::ahrs().is_ext_nav_used_for_yaw() && !AP::ahrs().yaw_initialised()) {
// do not align to ahrs if it is using us as its yaw source
if (AP::ahrs().is_ext_nav_used_for_yaw()) {
return false;
}
// do not align until ahrs yaw initialised
if (!AP::ahrs().initialised() || !AP::ahrs().yaw_initialised()) {
return false;
}