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AP_NavEKF: Apply flow nav vehicle limits regardless of sensor health

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It does not make sense to relax the limits on vehicle speed and nav gains just because we have received some invalid flow data. This could make the situation worse if the invalid data was being caused by too much speed.
If we are relying on flow data the vehicle limits should always be applied.
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priseborough 2015-01-10 05:09:40 +11:00 committed by Randy Mackay
parent 14b51f6d74
commit 1033f5fc1e
1 changed files with 1 additions and 1 deletions
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libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -3584,7 +3584,7 @@ uint8_t NavEKF::setInhibitGPS(void)
// return the scale factor to be applied to navigation velocity gains to compensate for increase in velocity noise with height when using optical flow
void NavEKF::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScaler) const
{
if (flowDataValid || PV_AidingMode == AID_RELATIVE) {
if (PV_AidingMode == AID_RELATIVE) {
// allow 1.0 rad/sec margin for angular motion
ekfGndSpdLimit = max((_maxFlowRate - 1.0f), 0.0f) * max((terrainState - state.position[2]), 0.1f);
// use standard gains up to 5.0 metres height and reduce above that