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AP_NavEKF: Consistently set timeout flags whenever aiding is inhibited

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This ensures the position and velocity measurement status will be set as timed out immediately after use of those measurements is inhibited. This will improve the timeliness of filter status reporting.
This commit is contained in:
priseborough 2015-01-10 05:34:09 +11:00 committed by Randy Mackay
parent 824425625c
commit d2da16e652
1 changed files with 8 additions and 2 deletions
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10
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -748,6 +748,8 @@ void NavEKF::SelectVelPosFusion()
constVelMode = false; // always clear constant velocity mode if constant velocity mode is active
constPosMode = true;
PV_AidingMode = AID_NONE;
posTimeout = true;
velTimeout = true;
// reset the velocity
ResetVelocity();
// store the current position to be used to keep reporting the last known position
@ -4309,8 +4311,6 @@ void NavEKF::InitialiseVariables()
// initialise other variables
gpsNoiseScaler = 1.0f;
velTimeout = true;
posTimeout = true;
hgtTimeout = true;
magTimeout = true;
tasTimeout = true;
@ -4363,6 +4363,8 @@ void NavEKF::InitialiseVariables()
lastConstVelMode = false;
heldVelNE.zero();
PV_AidingMode = AID_NONE;
posTimeout = true;
velTimeout = true;
gpsVelGlitchOffset.zero();
vehicleArmed = false;
prevVehicleArmed = false;
@ -4561,6 +4563,8 @@ void NavEKF::performArmingChecks()
// set various useage modes based on the condition at arming. These are then held until the vehicle is disarmed.
if (!vehicleArmed) {
PV_AidingMode = AID_NONE; // When dis-armed, we only estimate orientation & height using the constant position mode
posTimeout = true;
velTimeout = true;
constPosMode = true;
constVelMode = false; // always clear constant velocity mode if constant position mode is active
lastConstVelMode = false;
@ -4599,6 +4603,8 @@ void NavEKF::performArmingChecks()
// Always turn aiding off when the vehicle is disarmed
if (!vehicleArmed) {
PV_AidingMode = AID_NONE;
posTimeout = true;
velTimeout = true;
// set constant position mode if aiding is inhibited
constPosMode = true;
constVelMode = false; // always clear constant velocity mode if constant position mode is active