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AP_NavEKF3: Force velocity state to follow GPS when IMU data is bad

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This commit is contained in:
Paul Riseborough 2021-09-22 07:29:08 +10:00 committed by Andrew Tridgell
parent c0d88e2673
commit 458c67639d
1 changed files with 1 additions and 1 deletions
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libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
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@ -698,9 +698,9 @@ void NavEKF3_core::FuseVelPosNED()
}
if (imuSampleTime_ms - badIMUdata_ms < BAD_IMU_DATA_HOLD_MS) {
badIMUdata = true;
stateStruct.velocity.z = gpsDataDelayed.vel.z;
} else {
badIMUdata = false;
}
}