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AP_AHRS: removed the 6 sats min

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this would put us into dead-reckoning mode
This commit is contained in:
Andrew Tridgell 2012-11-06 14:24:19 +11:00
parent 11142bd466
commit 2d1b68fb22
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_AHRS/AP_AHRS_DCM.cpp
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@ -390,7 +390,7 @@ AP_AHRS_DCM::drift_correction(float deltat)
// we have integrated over // we have integrated over
_ra_deltat += deltat; _ra_deltat += deltat;
if (!have_gps() || _gps->num_sats < 6) { if (!have_gps()) {
// no GPS, or not a good lock. From experience we need at // no GPS, or not a good lock. From experience we need at
// least 6 satellites to get a really reliable velocity number // least 6 satellites to get a really reliable velocity number
// from the GPS. // from the GPS.