Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF : Inhibit flow and range fusion in static mode

This commit is contained in:
priseborough 2014-11-02 06:34:41 +11:00 committed by Andrew Tridgell
parent 9b9934ac06
commit 839b814d12
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_NavEKF/AP_NavEKF.cpp
View File

@ -929,7 +929,7 @@ void NavEKF::SelectFlowFusion()
// check if fusion should be delayed to spread load. Setting fuseMeNow to true disables this load spreading feature.
bool delayFusion = ((covPredStep || magFusePerformed) && !(timeout || inhibitLoadLeveling));
// if the filter is initialised, we have data to fuse and the vehicle is not excessively tilted, then perform optical flow fusion
if (useOptFlow() && newDataFlow && tiltOK && !delayFusion)
if (useOptFlow() && newDataFlow && tiltOK && !delayFusion && !staticMode)
{
// Set the flow noise used by the fusion processes
R_LOS = sq(max(_flowNoise, 0.05f));