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Rover: use EKF velocity for high rate ground_speed updates 

this may give smoother throttle response when the EKF is enabled
This commit is contained in:
Andrew Tridgell 2014-05-11 21:39:06 +10:00
parent 85ebe81ed3
commit 48919b6253
1 changed files with 12 additions and 1 deletions
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13
APMrover2/APMrover2.pde
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@ -623,6 +623,12 @@ static void ahrs_update()
ahrs.update(); ahrs.update();
// if using the EKF get a speed update now (from accelerometers)
Vector3f velocity;
if (ahrs.get_velocity_NED(velocity)) {
ground_speed = pythagorous2(velocity.x, velocity.y);
}
if (should_log(MASK_LOG_ATTITUDE_FAST)) if (should_log(MASK_LOG_ATTITUDE_FAST))
Log_Write_Attitude(); Log_Write_Attitude();
@ -824,7 +830,12 @@ static void update_GPS_10Hz(void)
ground_start_count = 0; ground_start_count = 0;
} }
} }
ground_speed = gps.ground_speed(); Vector3f velocity;
if (ahrs.get_velocity_NED(velocity)) {
ground_speed = pythagorous2(velocity.x, velocity.y);
} else {
ground_speed = gps.ground_speed();
}
#if CAMERA == ENABLED #if CAMERA == ENABLED
if (camera.update_location(current_loc) == true) { if (camera.update_location(current_loc) == true) {