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Rover: ekf check allows relative position estimates

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This allows arming using only wheel encoders which provide relative positions
This commit is contained in:
Randy Mackay 2019-10-17 16:56:26 +09:00
parent 63309c6925
commit 93aa600e5d
1 changed files with 4 additions and 4 deletions
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8
APMrover2/ekf_check.cpp
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@ -132,12 +132,12 @@ bool Rover::ekf_position_ok()
nav_filter_status filt_status; nav_filter_status filt_status;
rover.ahrs.get_filter_status(filt_status); rover.ahrs.get_filter_status(filt_status);
// if disarmed we accept a predicted horizontal position // if disarmed we accept a predicted horizontal absolute or relative position
if (!arming.is_armed()) { if (!arming.is_armed()) {
return ((filt_status.flags.horiz_pos_abs || filt_status.flags.pred_horiz_pos_abs)); return (filt_status.flags.horiz_pos_abs || filt_status.flags.pred_horiz_pos_abs || filt_status.flags.horiz_pos_rel || filt_status.flags.pred_horiz_pos_rel);
} else { } else {
// once armed we require a good absolute position and EKF must not be in const_pos_mode // once armed we require a good absolute or relative position and EKF must not be in const_pos_mode
return (filt_status.flags.horiz_pos_abs && !filt_status.flags.const_pos_mode); return ((filt_status.flags.horiz_pos_abs || filt_status.flags.horiz_pos_rel) && !filt_status.flags.const_pos_mode);
} }
} }