mirror of https://github.com/ArduPilot/ardupilot
4eb19c2324
1) Un-used public methods to report height and position drifting have been removed 2) A time-out has been added to the airspeed innovation consistency check so that if we are relying on airspeed to constrain velocity drift, a filter divergence or other fault that causes the airspeed to be continually rejected will trigger a change in health status. 3) A timeout of velocity, position or height measurements does not cause a filter fault to be reported. Timeouts can be due to sensor errors and do not necessarily indicate that the filter has failed. 4) Time-outs of various measurements are used to present a consolidated bitmask which inidicates which parts of the solution can be used, eg attitude, height, velocity, relative position, absolute position, etc. |
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| .. | ||
| AP_NavEKF.cpp | ||
| AP_NavEKF.h | ||