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AP_NavEKF2: Ensure that GPS origin is set before using data for height

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Paul Riseborough 2015-11-13 14:51:51 +11:00 committed by Andrew Tridgell
parent b8427e5d95
commit 97799ef0b3
1 changed files with 1 additions and 1 deletions
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libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
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@ -545,7 +545,7 @@ void NavEKF2_core::selectHeightForFusion()
// determine if we should be using a height source other than baro // determine if we should be using a height source other than baro
bool usingRangeForHgt = (frontend->_altSource == 1 && imuSampleTime_ms - rngValidMeaTime_ms < 500 && frontend->_fusionModeGPS == 3); bool usingRangeForHgt = (frontend->_altSource == 1 && imuSampleTime_ms - rngValidMeaTime_ms < 500 && frontend->_fusionModeGPS == 3);
bool usingGpsForHgt = (frontend->_altSource == 2 && imuSampleTime_ms - lastTimeGpsReceived_ms < 500); bool usingGpsForHgt = (frontend->_altSource == 2 && imuSampleTime_ms - lastTimeGpsReceived_ms < 500 && validOrigin);
// if there is new baro data to fuse, calculate filterred baro data required by other processes // if there is new baro data to fuse, calculate filterred baro data required by other processes
if (baroDataToFuse) { if (baroDataToFuse) {