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AP_NavEKF3: Fix bug preventing reset to GPS 

This fixes a bug that prevented the reset to the GPS position occurring if GPS velocity observations were still passing innovation consistency checks.
This commit is contained in:
priseborough 2017-03-04 21:44:19 +11:00 committed by Randy Mackay
parent b7c4945000
commit 7a8783f35e
1 changed files with 1 additions and 2 deletions
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3
libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
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@ -252,8 +252,7 @@ void NavEKF3_core::setAidingMode()
maxLossTime_ms = frontend->posRetryTimeUseVel_ms; maxLossTime_ms = frontend->posRetryTimeUseVel_ms;
} }
posAidLossCritical = (imuSampleTime_ms - lastRngBcnPassTime_ms > maxLossTime_ms) && posAidLossCritical = (imuSampleTime_ms - lastRngBcnPassTime_ms > maxLossTime_ms) &&
(imuSampleTime_ms - lastPosPassTime_ms > maxLossTime_ms) && (imuSampleTime_ms - lastPosPassTime_ms > maxLossTime_ms);
(imuSampleTime_ms - lastVelPassTime_ms > maxLossTime_ms);
} }
if (attAidLossCritical) { if (attAidLossCritical) {