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AP_AHRS : change initialisation requirements for EKF and use dynamic method

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This commit is contained in:
Paul Riseborough 2014-02-20 19:31:51 +11:00 committed by priseborough
parent 6732d6c79b
commit 9f3c19c03a
2 changed files with 4 additions and 4 deletions
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6
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -52,14 +52,14 @@ void AP_AHRS_NavEKF::update(void)
_dcm_attitude(roll, pitch, yaw); _dcm_attitude(roll, pitch, yaw);
if (!ekf_started) { if (!ekf_started) {
// if we have a compass set we can start the EKF // if we have a compass set and GPS lock we can start the EKF
if (get_compass()) { if (get_compass() && get_gps()->status() >= GPS::GPS_OK_FIX_3D) {
if (start_time_ms == 0) { if (start_time_ms == 0) {
start_time_ms = hal.scheduler->millis(); start_time_ms = hal.scheduler->millis();
} }
if (hal.scheduler->millis() - start_time_ms > startup_delay_ms) { if (hal.scheduler->millis() - start_time_ms > startup_delay_ms) {
ekf_started = true; ekf_started = true;
EKF.InitialiseFilterBootstrap(); EKF.InitialiseFilterDynamic();
} }
} }
} }

2
libraries/AP_AHRS/AP_AHRS_NavEKF.h
View File

@ -38,7 +38,7 @@ public:
EKF(this, baro), EKF(this, baro),
_baro(baro), _baro(baro),
ekf_started(false), ekf_started(false),
startup_delay_ms(5000) startup_delay_ms(10000)
{ {
} }