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AP_NavEKF2: Do not use GPS height if GPS accuracy is poor

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If we are using GPS height, revert back to using Baro height if the GPS accuracy is poor.
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Paul Riseborough 2016-02-27 10:58:38 +11:00 committed by Randy Mackay
parent cca8a86962
commit bb74371c58
1 changed files with 1 additions and 1 deletions
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libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
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@ -552,7 +552,7 @@ void NavEKF2_core::selectHeightForFusion()
// 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 usingGpsForHgt = (frontend->_altSource == 2 && imuSampleTime_ms - lastTimeGpsReceived_ms < 500 && validOrigin);
bool usingGpsForHgt = (frontend->_altSource == 2 && imuSampleTime_ms - lastTimeGpsReceived_ms < 500 && validOrigin && gpsAccuracyGood);
// if there is new baro data to fuse, calculate filterred baro data required by other processes
if (baroDataToFuse) {