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AP_NavEKF2: Fix bug preventing reset to GPS

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This fixes a bug that prevented the reset to the GPS position occurring if GPS velocity observations were still passing innovation consistency checks.
This commit is contained in:
priseborough 2017-03-04 21:44:11 +11:00 committed by Randy Mackay
parent 7f11cf3ca6
commit b7c4945000
1 changed files with 1 additions and 2 deletions
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3
libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
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@ -238,8 +238,7 @@ void NavEKF2_core::setAidingMode()
maxLossTime_ms = frontend->posRetryTimeUseVel_ms;
}
posAidLossCritical = (imuSampleTime_ms - lastRngBcnPassTime_ms > maxLossTime_ms) &&
(imuSampleTime_ms - lastPosPassTime_ms > maxLossTime_ms) &&
(imuSampleTime_ms - lastVelPassTime_ms > maxLossTime_ms);
(imuSampleTime_ms - lastPosPassTime_ms > maxLossTime_ms);
}
if (attAidLossCritical) {