Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-03-05 21:23:58 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_AHRS : Enable EKF start without GPS

Browse Source
This commit is contained in:
priseborough 2014-10-29 11:55:53 +11:00 committed by Andrew Tridgell
parent 41f0231cfb
commit 44e1695d5a
1 changed files with 7 additions and 9 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
View File

@ -77,8 +77,7 @@ void AP_AHRS_NavEKF::update(void)
_dcm_attitude(roll, pitch, yaw);
if (!ekf_started) {
// if we have a GPS lock and more than 6 satellites, we can start the EKF
if (get_gps().status() >= AP_GPS::GPS_OK_FIX_3D && get_gps().num_sats() >= _gps_minsats) {
// wait 10 seconds
if (start_time_ms == 0) {
start_time_ms = hal.scheduler->millis();
}
@ -87,7 +86,6 @@ void AP_AHRS_NavEKF::update(void)
EKF.InitialiseFilterDynamic();
}
}
}
if (ekf_started) {
EKF.UpdateFilter();
EKF.getRotationBodyToNED(_dcm_matrix);