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AP_NavEKF : Changed timout behaviour to only reset PosVel states

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