aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_NavEKF3: Add missing fallback to baro for range beacon use case

Browse Source
This commit is contained in:
Paul Riseborough 2020-05-16 11:45:06 +10:00 committed by Randy Mackay
parent d118c8fc38
commit 344d621a08
1 changed files with 2 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
View File

@ -1034,7 +1034,8 @@ void NavEKF3_core::selectHeightForFusion()
bool lostRngHgt = ((activeHgtSource == HGT_SOURCE_RNG) && ((imuSampleTime_ms - rngValidMeaTime_ms) > 500));
bool lostGpsHgt = ((activeHgtSource == HGT_SOURCE_GPS) && ((imuSampleTime_ms - lastTimeGpsReceived_ms) > 2000));
bool lostExtNavHgt = ((activeHgtSource == HGT_SOURCE_EXTNAV) && ((imuSampleTime_ms - extNavMeasTime_ms) > 2000));
if (lostRngHgt || lostGpsHgt || lostExtNavHgt) {
bool lostRngBcnHgt = ((activeHgtSource == HGT_SOURCE_BCN) && ((imuSampleTime_ms - rngBcnDataDelayed.time_ms) > 2000));
if (lostRngHgt || lostGpsHgt || lostExtNavHgt || lostRngBcnHgt) {
activeHgtSource = HGT_SOURCE_BARO;
}