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AP_AHRS : Prevent EKF starting if GPS sats less than AHRS_GPS_MINSATS

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priseborough 2014-09-23 19:32:20 +10:00 committed by Randy Mackay
parent 9c3379ff48
commit 62339c217c
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -58,8 +58,8 @@ void AP_AHRS_NavEKF::update(void)
_dcm_attitude(roll, pitch, yaw); _dcm_attitude(roll, pitch, yaw);
if (!ekf_started) { if (!ekf_started) {
// if we have a GPS lock we can start the EKF // 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) { if (get_gps().status() >= AP_GPS::GPS_OK_FIX_3D && get_gps().num_sats() >= _gps_minsats) {
if (start_time_ms == 0) { if (start_time_ms == 0) {
start_time_ms = hal.scheduler->millis(); start_time_ms = hal.scheduler->millis();
} }