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Copter: fix optflow position_ok check

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We should accept predicted relative horizontal position only when disarmed
This commit is contained in:
Randy Mackay 2015-08-27 20:54:09 +09:00
parent 21f873662c
commit be603da579
1 changed files with 7 additions and 1 deletions
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8
ArduCopter/system.cpp
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@ -353,7 +353,13 @@ bool Copter::optflow_position_ok()
// get filter status from EKF // get filter status from EKF
nav_filter_status filt_status = inertial_nav.get_filter_status(); nav_filter_status filt_status = inertial_nav.get_filter_status();
return (filt_status.flags.horiz_pos_rel || filt_status.flags.pred_horiz_pos_rel);
// if disarmed we accept a predicted horizontal relative position
if (!motors.armed()) {
return (filt_status.flags.pred_horiz_pos_rel);
} else {
return (filt_status.flags.horiz_pos_rel && !filt_status.flags.const_pos_mode);
}
#endif #endif
} }