mirror of https://github.com/ArduPilot/ardupilot
04036d7777
This adds new functionality to the detection and compensation of GPS glitches: 1) A maximum allowable innovation is calculated using the GPS noise parameter multiplied by the gate, with an additional component allowing for growth in position uncertainty due to acceleration error since the last valid measurement 2) Includes per vehicle type values for the acceleration error limit 3) If the innovation length exceeds the maximum allowable, no fusion occurs 4) If no fusion has occurred for long enough such that the position uncertainty exceeds the maximum set by a per vehicle parameter or a maximum time, an offset is applied to the GPS data to so that it matches the value predicted by the filter 5) The offset is never allowed to be bigger than 100m 6) The offset is decayed to zero at a rate of 1.0 m/s to allow GPS jumps to be accommodated gradually 7) The default velocity innovation gate has been tightened up for copter and rover 8) The variance data logging output has been updated to make it more useful |
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| .. | ||
| AP_NavEKF.cpp | ||
| AP_NavEKF.h | ||