priseborough e4c969084d AP_NavEKF: Improve behaviour recovering from a GPS timeout ... When regaining GPS after a timeout, an offset is applied when fusing GPS velocity so that GPS velocity and position data as fused by the EKF is kinematically consistent. This velocity offset is also accounted for when fusing air data so that wind estimates are not corrupted when the GPS position offset is being pulle back to zero. The intended behaviour is that the EKF position will be pulled back to the GPS position at a rate of 5m/s for planes and 1 m/s for copters. This avoids large deviations in trajectory when GPS is regained.		2014-12-31 13:13:50 +09:00
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AP_NavEKF.cpp	AP_NavEKF: Improve behaviour recovering from a GPS timeout	2014-12-31 13:13:50 +09:00
AP_NavEKF.h	AP_NavEKF: Improve behaviour recovering from a GPS timeout	2014-12-31 13:13:50 +09:00