AP_AHRS: fixed EKF type 10 EKF nav scaler return

2016-12-29 18:43:32 +11:00 · 2016-12-29 18:43:32 +11:00 · ad518f0cc7
parent ef637e4add
commit ad518f0cc7
1 changed files with 7 additions and 0 deletions
--- a/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
+++ b/libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
@ -1013,6 +1013,13 @@ void AP_AHRS_NavEKF::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVel
        EKF3.getEkfControlLimits(ekfGndSpdLimit,ekfNavVelGainScaler);
        break;

+#if CONFIG_HAL_BOARD == HAL_BOARD_SITL
+    case EKF_TYPE_SITL:
+        // same as EKF2 for no optical flow
+        ekfGndSpdLimit = 400.0f;
+        ekfNavVelGainScaler = 1.0f;
+        break;
+#endif
    }
 }