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AP_NavEKF2: Don't run GPS checks when not required

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This commit is contained in:
Paul Riseborough 2015-09-24 19:11:12 +10:00
parent 1986af021f
commit df0eb9d9d7
1 changed files with 3 additions and 1 deletions
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4
libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
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@ -3751,7 +3751,9 @@ void NavEKF2_core::readGpsData()
}
// Monitor quality of the GPS velocity data for alignment
gpsQualGood = calcGpsGoodToAlign();
if (PV_AidingMode != AID_ABSOLUTE) {
gpsQualGood = calcGpsGoodToAlign();
}
// read latitutde and longitude from GPS and convert to local NE position relative to the stored origin
// If we don't have an origin, then set it to the current GPS coordinates