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AP_NavEKF : Enable inhibiting of GPS measurements

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priseborough 2014-10-16 19:29:17 +11:00 committed by Andrew Tridgell
parent 79698f7742
commit c3be486c29
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -231,7 +231,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @Param: GPS_TYPE
// @DisplayName: GPS velocity mode control
// @Description: This parameter controls use of GPS velocity measurements : 0 = use 3D velocity, 1 = use 2D velocity, 2 = use no velocity
// @Description: This parameter controls use of GPS velocity measurements : 0 = use 3D velocity, 1 = use 2D velocity, 2 = use no velocity, 3 = use no GPS
// @Range: 0 3
// @Increment: 1
// @User: Advanced
@ -776,7 +776,7 @@ void NavEKF::SelectVelPosFusion()
readGpsData();
// command fusion of GPS data and reset states as required
if (newDataGps) {
if (newDataGps && (_fusionModeGPS < 3)) {
// reset data arrived flag
newDataGps = false;
// reset state updates and counter used to spread fusion updates across several frames to reduce 10Hz pulsing