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AP_NavEKF2: Enable GPS velocity fusion to be inhibited

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Paul Riseborough 2015-09-27 17:14:31 +02:00 committed by Randy Mackay
parent 012b632d09
commit ef624199f9
1 changed files with 9 additions and 1 deletions
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10
libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
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@ -304,8 +304,16 @@ void NavEKF2_core::SelectVelPosFusion()
// check for and read new GPS data // check for and read new GPS data
readGpsData(); readGpsData();
// Determine if we need to fuse position and velocity data on this time step
if (RecallGPS() && PV_AidingMode != AID_RELATIVE) { if (RecallGPS() && PV_AidingMode != AID_RELATIVE) {
fuseVelData = true; // Don't fuse velocity data if GPS doesn't support it
// If no aiding is avaialble, then we use zeroed GPS position and elocity data to constrain
// tilt errors assuming that the vehicle is not accelerating
if (frontend._fusionModeGPS <= 1 || PV_AidingMode == AID_NONE) {
fuseVelData = true;
} else {
fuseVelData = false;
}
fusePosData = true; fusePosData = true;
} else { } else {
fuseVelData = false; fuseVelData = false;