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https://github.com/ArduPilot/ardupilot
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e5e092d077
this will allow a fixed wing to fall back to DCM if the EKF stops providing an absolute position while we have 3D GPS lock. The using_gps flag is not enough, as lagged GPS data can lead to the EKF stopping fusing when the data is behind the fusion time horizon. In that case EKF3 gives using_gps=1 but sets horiz_pos_abs=0 |
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| .. | ||
| examples/AHRS_Test | ||
| AP_AHRS_DCM.cpp | ||
| AP_AHRS_DCM.h | ||
| AP_AHRS_NavEKF.cpp | ||
| AP_AHRS_NavEKF.h | ||
| AP_AHRS_View.cpp | ||
| AP_AHRS_View.h | ||
| AP_AHRS.cpp | ||
| AP_AHRS.h | ||