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AP_AHRS: use EKF for groundspeed estimate if available

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This commit is contained in:
Andrew Tridgell 2016-05-31 15:55:41 +10:00
parent 2815af81ad
commit a6cbc5d4a5
1 changed files with 2 additions and 5 deletions
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7
libraries/AP_AHRS/AP_AHRS.h
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@ -294,11 +294,8 @@ public:
}
// return ground speed estimate in meters/second. Used by ground vehicles.
float groundspeed(void) const {
if (_gps.status() <= AP_GPS::NO_FIX) {
return 0.0f;
}
return _gps.ground_speed();
float groundspeed(void) {
return groundspeed_vector().length();
}
// return true if we will use compass for yaw