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AP_GPS: prevent use of blended GPS with moving baseline

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when moving baseline is enabled the rover is slaved to the base for
position and velocity, adding no additional useful data. Only the yaw
comes from the rover
This commit is contained in:
Andrew Tridgell 2023-09-19 16:18:00 +10:00
parent 4e61fb3f26
commit 4cabe0f223
1 changed files with 12 additions and 2 deletions
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14
libraries/AP_GPS/AP_GPS.cpp
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@ -1164,8 +1164,18 @@ void AP_GPS::update(void)
void AP_GPS::update_primary(void)
{
#if defined(GPS_BLENDED_INSTANCE)
// if blending is requested, attempt to calculate weighting for each GPS
if ((GPSAutoSwitch)_auto_switch.get() == GPSAutoSwitch::BLEND) {
/*
if blending is requested, attempt to calculate weighting for
each GPS
we do not do blending if using moving baseline yaw as the rover is
significant lagged and gives no more information on position or
velocity
*/
const bool using_moving_base = (_type[0] == GPS_TYPE_UAVCAN_RTK_BASE ||
_type[0] == GPS_TYPE_UBLOX_RTK_BASE ||
_type[1] == GPS_TYPE_UAVCAN_RTK_BASE ||
_type[1] == GPS_TYPE_UBLOX_RTK_BASE);
if ((GPSAutoSwitch)_auto_switch.get() == GPSAutoSwitch::BLEND && !using_moving_base) {
_output_is_blended = calc_blend_weights();
// adjust blend health counter
if (!_output_is_blended) {