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AP_NavEKF : Don't estimate focal length scale factor without reliable velocity

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priseborough 2014-10-24 20:24:32 +11:00 committed by Andrew Tridgell
parent 4c92a5f23f
commit e09ff84218
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -3689,8 +3689,8 @@ void NavEKF::SetFlightAndFusionModes()
} else {
inhibitGndState = false;
}
// Don't update focal length offset state if there is no range finder
if (!useRngFinder()) {
// Don't update focal length offset state if there is no range finder or GPS, or we are flying slowly
if (!useRngFinder() || _fusionModeGPS == 3 || gndSpdSq < 5.0f) {
fScaleInhibit = true;
} else {
fScaleInhibit = false;