Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-23 09:08:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF2: Enable GPS velocity fusion to be inhibited

Browse Source
This commit is contained in:
Paul Riseborough 2015-09-27 17:14:31 +02:00 committed by Randy Mackay
parent 012b632d09
commit ef624199f9
1 changed files with 9 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

10
libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
View File

@ -304,8 +304,16 @@ void NavEKF2_core::SelectVelPosFusion()
// check for and read new GPS data
readGpsData();
// Determine if we need to fuse position and velocity data on this time step
if (RecallGPS() && PV_AidingMode != AID_RELATIVE) {
fuseVelData = true;
// Don't fuse velocity data if GPS doesn't support it
// If no aiding is avaialble, then we use zeroed GPS position and elocity data to constrain
// tilt errors assuming that the vehicle is not accelerating
if (frontend._fusionModeGPS <= 1 || PV_AidingMode == AID_NONE) {
fuseVelData = true;
} else {
fuseVelData = false;
}
fusePosData = true;
} else {
fuseVelData = false;