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AP_NavEKF : Fix bug in reset of GPS glitch offset

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The GPS glitch offset was being zeroed during position resets. This caused the filter to reject subsequent GPS measurements if the GPS error persisted long enough to invoke a timeout and a position reset.
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priseborough 2014-10-03 05:51:24 +10:00 committed by Andrew Tridgell
parent b3bbec24e4
commit 8aa267f75f
1 changed files with 0 additions and 2 deletions
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libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -411,8 +411,6 @@ void NavEKF::ResetPosition(void)
state.position.x = gpsPosNE.x + gpsPosGlitchOffsetNE.x + 0.001f*velNED.x*float(_msecPosDelay);
state.position.y = gpsPosNE.y + gpsPosGlitchOffsetNE.y + 0.001f*velNED.y*float(_msecPosDelay);
}
// reset the glitch ofset correction states
gpsPosGlitchOffsetNE.zero();
// stored horizontal position states to prevent subsequent GPS measurements from being rejected
for (uint8_t i=0; i<=49; i++){
storedStates[i].position[0] = state.position[0];