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AP_NavEKF3: use err info from ext nav interface

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chobits 2020-06-04 16:08:18 +08:00 committed by Randy Mackay
parent 5e5a0d2111
commit 9b448b83c0
1 changed files with 1 additions and 5 deletions
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6
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@ -963,11 +963,7 @@ void NavEKF3_core::writeExtNavData(const Vector3f &pos, const Quaternion &quat,
}
extNavDataNew.pos = pos;
if (posErr > 0) {
extNavDataNew.posErr = posErr;
} else {
extNavDataNew.posErr = frontend->_gpsHorizPosNoise;
}
extNavDataNew.posErr = posErr;
// calculate timestamp
timeStamp_ms = timeStamp_ms - delay_ms;