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AP_NavEKF: Ensure filter doesn't try to use GPS after initialisation

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priseborough 2014-12-22 08:25:37 +11:00 committed by Randy Mackay
parent bab1a69f1c
commit 40b02fc19a
1 changed files with 3 additions and 2 deletions
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5
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -716,7 +716,7 @@ void NavEKF::UpdateFilter()
heldVelNE.zero(); heldVelNE.zero();
// set various useage modes based on the condition at arming. These are then held until the vehicle is disarmed. // set various useage modes based on the condition at arming. These are then held until the vehicle is disarmed.
if (!vehicleArmed) { if (!vehicleArmed) {
gpsInhibitMode = 0; // When dis-arming, clear any GPS mode inhibits gpsInhibitMode = 1; // When dis-armed, we only estimate orientation & height
} else if (_fusionModeGPS == 3) { // arming when GPS useage has been prohibited } else if (_fusionModeGPS == 3) { // arming when GPS useage has been prohibited
if (optFlowDataPresent()) { if (optFlowDataPresent()) {
gpsInhibitMode = 2; // we have optical flow data and can estimate all vehicle states gpsInhibitMode = 2; // we have optical flow data and can estimate all vehicle states
@ -4421,10 +4421,11 @@ void NavEKF::ZeroVariables()
flowGyroBias.y = 0; flowGyroBias.y = 0;
velHoldMode = false; velHoldMode = false;
heldVelNE.zero(); heldVelNE.zero();
gpsInhibitMode = 0; gpsInhibitMode = 1;
gpsVelGlitchOffset.zero(); gpsVelGlitchOffset.zero();
vehicleArmed = false; vehicleArmed = false;
prevVehicleArmed = false; prevVehicleArmed = false;
posHoldMode = true;
} }
// return true if we should use the airspeed sensor // return true if we should use the airspeed sensor