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AP_NavEKF2: Enable entry into relative position mode on start-up

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priseborough 2016-10-05 18:22:20 +11:00 committed by Randy Mackay
parent e0b8c54194
commit ed9ecb28fb
1 changed files with 1 additions and 1 deletions
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libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
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@ -170,7 +170,7 @@ void NavEKF2_core::setAidingMode()
// GPS aiding is the perferred option unless excluded by the user
if((frontend->_fusionModeGPS) != 3 && readyToUseGPS() && filterIsStable && !gpsInhibit) {
PV_AidingMode = AID_ABSOLUTE;
} else if ((frontend->_fusionModeGPS == 3) && optFlowDataPresent()) {
} else if (optFlowDataPresent() && filterIsStable) {
PV_AidingMode = AID_RELATIVE;
}
} else if (PV_AidingMode == AID_RELATIVE) {