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AP_NavEKF: Update public method used to inhibit GPS use

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This method is not currently used by any of our vehicle types, but will be required to enable a user selectable 'indoor mode'.
This commit is contained in:
priseborough 2015-01-10 05:21:17 +11:00 committed by Randy Mackay
parent 1033f5fc1e
commit 824425625c
1 changed files with 4 additions and 5 deletions
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9
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -3561,23 +3561,22 @@ void NavEKF::resetGyroBias(void)
}
// Commands the EKF to not use GPS.
// This command must be sent prior to arming as it will only be actioned when the filter is in constant position mode
// This command is forgotten by the EKF each time it goes back into constant position mode (eg the vehicle disarms)
// This command must be sent prior to arming
// This command is forgotten by the EKF each time the vehicle disarms
// Returns 0 if command rejected
// Returns 1 if attitude, vertical velocity and vertical position will be provided
// Returns 2 if attitude, 3D-velocity, vertical position and relative horizontal position will be provided
uint8_t NavEKF::setInhibitGPS(void)
{
if(!constPosMode) {
if(!vehicleArmed) {
return 0;
}
if (optFlowDataPresent()) {
PV_AidingMode = AID_RELATIVE;
return 2;
} else {
PV_AidingMode = AID_NONE;
return 1;
}
_fusionModeGPS = 3;
}
// return the horizontal speed limit in m/s set by optical flow sensor limits