Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-02-02 14:08:45 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF: Don't allow EKF to initialise without GPS lock if we are a plane

Browse Source 
This is needed because planes arm automatically.

AP_NavEKF: Fix bug in GPS patch
This commit is contained in:
priseborough 2015-01-05 11:40:02 +11:00 committed by Andrew Tridgell
parent 781f2b7ddc
commit d599fa588e
1 changed files with 11 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

11
libraries/AP_NavEKF/AP_NavEKF.cpp
View File

@ -501,6 +501,11 @@ void NavEKF::InitialiseFilterDynamic(void)
// attitude we get the DCM attitude regardless of the state of AHRS_EKF_USE
statesInitialised = false;
// If we are a plane and don't have GPS lock then don't initialise
if (assume_zero_sideslip() && _ahrs->get_gps().status() < AP_GPS::GPS_OK_FIX_3D) {
return;
}
// Set re-used variables to zero
InitialiseVariables();
@ -562,6 +567,12 @@ void NavEKF::InitialiseFilterDynamic(void)
// This method can only be used when the vehicle is static
void NavEKF::InitialiseFilterBootstrap(void)
{
// If we are a plane and don't have GPS lock then don't initialise
if (assume_zero_sideslip() && _ahrs->get_gps().status() < AP_GPS::GPS_OK_FIX_3D) {
statesInitialised = false;
return;
}
// set re-used variables to zero
InitialiseVariables();