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AP_NavEKF: Ensure velocity will not be reset unless needed for aiding

This commit is contained in:
priseborough 2015-01-09 23:37:21 +11:00 committed by Randy Mackay
parent 8aeec82846
commit 95c3197170
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -2005,8 +2005,8 @@ void NavEKF::FuseVelPosNED()
if (velHealth || constVelMode) {
velHealth = true;
velFailTime = imuSampleTime_ms;
} else if (velTimeout && !posHealth) {
// if data is not healthy and timed out and position is unhealthy we reset the velocity, but do not fuse data on this time step
} else if (velTimeout && !posHealth && PV_AidingMode == AID_ABSOLUTE) {
// if data is not healthy and timed out and position is unhealthy and we are using aiding, we reset the velocity, but do not fuse data on this time step
ResetVelocity();
fuseVelData = false;
} else {