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AP_NavEKF: Prevent GPS glitch activating EKF failsafe

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Paul Riseborough 2015-10-12 17:54:15 +11:00 committed by Randy Mackay
parent fd0a442c92
commit a895b16fa6
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -4985,7 +4985,7 @@ void NavEKF::getFilterStatus(nav_filter_status &status) const
bool someVertRefData = (!velTimeout && useGpsVertVel) || !hgtTimeout;
bool someHorizRefData = !(velTimeout && posTimeout && tasTimeout) || doingFlowNav;
bool optFlowNavPossible = flowDataValid && (_fusionModeGPS == 3);
bool gpsNavPossible = !gpsNotAvailable && (_fusionModeGPS <= 2) && gpsGoodToAlign && gpsAccuracyGood;
bool gpsNavPossible = !gpsNotAvailable && (_fusionModeGPS <= 2) && gpsGoodToAlign;
bool filterHealthy = healthy();
bool gyroHealthy = checkGyroHealthPreFlight();
@ -4994,7 +4994,7 @@ void NavEKF::getFilterStatus(nav_filter_status &status) const
status.flags.horiz_vel = someHorizRefData && notDeadReckoning && filterHealthy; // horizontal velocity estimate valid
status.flags.vert_vel = someVertRefData && filterHealthy; // vertical velocity estimate valid
status.flags.horiz_pos_rel = ((doingFlowNav && gndOffsetValid) || doingWindRelNav || doingNormalGpsNav) && notDeadReckoning && filterHealthy; // relative horizontal position estimate valid
status.flags.horiz_pos_abs = !gpsAidingBad && doingNormalGpsNav && notDeadReckoning && filterHealthy && gpsAccuracyGood; // absolute horizontal position estimate valid
status.flags.horiz_pos_abs = !gpsAidingBad && doingNormalGpsNav && notDeadReckoning && filterHealthy; // absolute horizontal position estimate valid
status.flags.vert_pos = !hgtTimeout && filterHealthy; // vertical position estimate valid
status.flags.terrain_alt = gndOffsetValid && filterHealthy; // terrain height estimate valid
status.flags.const_pos_mode = constPosMode && filterHealthy; // constant position mode