Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-26 17:53:59 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF : Changed timout behaviour to only reset PosVel states

Browse Source
This commit is contained in:
Paul Riseborough 2014-02-16 16:54:11 +11:00 committed by Andrew Tridgell
parent 856dfd0ee6
commit 404fbafe26
1 changed files with 6 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

8
libraries/AP_NavEKF/AP_NavEKF.cpp
View File

@ -489,8 +489,12 @@ void NavEKF::UpdateFilter()
readIMUData();
if (dtIMU > 0.2f) {
// we have stalled for far too long - reset from DCM
InitialiseFilterDynamic();
// we have stalled for too long - reset states
ResetVelocity();
ResetPosition();
ResetHeight();
//Initialise IMU pre-processing states
readIMUData();
perf_end(_perf_UpdateFilter);
return;
}