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AP_NavEKF: Use baro data during launch transients whilst in static mode

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Baro data can be used as it will still be valid during the launch and
is not a synthesised measurement.
This commit is contained in:
priseborough 2014-04-29 12:59:19 +10:00 committed by Andrew Tridgell
parent a38e00c048
commit 3026ccee13
1 changed files with 5 additions and 6 deletions
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11
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -686,17 +686,16 @@ void NavEKF::SelectVelPosFusion()
} }
} else { } else {
// in static mode we only fuse position and height to improve long term numerical stability // in static mode use synthetic position measurements set to zero
// and only when the rate of change of velocity is less than 0.5g. This prevents attitude errors // only fuse synthetic measurements when rate of change of velocity is less than 0.5g to reduce attitude errors due to launch acceleration
// due to launch acceleration. position is assumed to be zero. // do not use velocity fusion to reduce the effect of movement on attitude
fuseVelData = false;
if (accNavMag < 4.9f) { if (accNavMag < 4.9f) {
fusePosData = true; fusePosData = true;
fuseHgtData = true;
} else { } else {
fusePosData = false; fusePosData = false;
fuseHgtData = false;
} }
fuseVelData = false;
fuseHgtData = true;
} }
// check for and read new height data // check for and read new height data