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AP_NavEKF2: always set EKF control limits, even with no cores

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Peter Barker 2018-10-02 14:06:07 +10:00 committed by Andrew Tridgell
parent 47b5cf98ea
commit 889190d46e
1 changed files with 3 additions and 0 deletions
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3
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -896,6 +896,9 @@ void NavEKF2::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainSca
{ {
if (core) { if (core) {
core[primary].getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler); core[primary].getEkfControlLimits(ekfGndSpdLimit, ekfNavVelGainScaler);
} else {
ekfGndSpdLimit = 400.0f; //return 80% of max filter speed
ekfNavVelGainScaler = 1.0f;
} }
} }