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AP_NavEKF : remove onGround airspeed detect bug

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Paul Riseborough 2014-01-01 14:37:30 +11:00 committed by Andrew Tridgell
parent a507fa7570
commit 8bc14d09b2
1 changed files with 5 additions and 1 deletions
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6
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -1956,7 +1956,11 @@ bool NavEKF::getLLH(struct Location &loc)
void NavEKF::OnGroundCheck()
{
onGround = (((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f) && (VtasMeas < 8.0f));
bool noAirSpd;
bool noGndSpd;
noAirSpd = (_ahrs.airspeed_estimate_true(&VtasMeas) < 8.0f);
noGndSpd = ((sq(velNED[0]) + sq(velNED[1]) + sq(velNED[2])) < 4.0f);
onGround = (noAirSpd && noGndSpd);
}
void NavEKF::CovarianceInit()