mirror of https://github.com/ArduPilot/ardupilot
AP_NavEKF3: fixed loss of GPS fusion
we must not do a storedGPS.recall unless we will be using the data, otherwise we will lose GPS samples and risk stopping GPS fusion
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@ -664,10 +664,6 @@ void NavEKF3_core::readGpsData()
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hal.util->snprintf(prearm_fail_string, sizeof(prearm_fail_string), "Waiting for 3D fix");
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}
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}
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// get data that has now fallen behind the fusion time horizon
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gpsDataToFuse = storedGPS.recall(gpsDataDelayed,imuDataDelayed.time_ms);
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}
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// read the delta angle and corresponding time interval from the IMU
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@ -284,6 +284,12 @@ void NavEKF3_core::SelectVelPosFusion()
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posVelFusionDelayed = false;
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}
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// Read GPS data from the sensor
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readGpsData();
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// get data that has now fallen behind the fusion time horizon
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gpsDataToFuse = storedGPS.recall(gpsDataDelayed,imuDataDelayed.time_ms);
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// Determine if we need to fuse position and velocity data on this time step
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if (gpsDataToFuse && PV_AidingMode == AID_ABSOLUTE) {
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@ -631,20 +631,21 @@ void NavEKF3_core::UpdateFilter(bool predict)
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// Predict the covariance growth
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CovariancePrediction();
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// Read GPS data from the sensor
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// This is required by multiple processes so needs to be done before other fusion steps
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readGpsData();
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// Generate an alternative yaw estimate used for inflight recovery from bad compass data
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// requires horizontal GPS velocity
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runYawEstimator();
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// Update states using magnetometer or external yaw sensor data
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SelectMagFusion();
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// Update states using GPS and altimeter data
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SelectVelPosFusion();
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// Generate an alternative yaw estimate used for inflight
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// recovery from bad compass data requires horizontal GPS
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// velocity. We only do this when posVelFusionDelayed is false
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// as otherwise there will be no new GPS data, as the
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// sttoredGPS recall will have been skipped
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if (!posVelFusionDelayed) {
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runYawEstimator();
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}
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// Update states using range beacon data
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SelectRngBcnFusion();
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