Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 02:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF : Don't update focal length scale factor at low speeds

Browse Source
This commit is contained in:
priseborough 2014-10-16 16:03:37 +11:00 committed by Andrew Tridgell
parent 8dd1081f54
commit b1d3d5d9a3
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_NavEKF/AP_NavEKF.cpp
View File

@ -3674,8 +3674,8 @@ void NavEKF::SetFlightAndFusionModes()
} else {
inhibitGndState = false;
}
// Don't update focal length offset state if there is no range finder
if (!useRngFinder()) {
// Don't update focal length offset state if there is no range finder or flying at low velocity
if (!useRngFinder() || !highGndSpdStage2) {
fScaleInhibit = true;
} else {
fScaleInhibit = false;