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ekf2: do not use gnss data when no lock

This commit is contained in:
bresch 2022-11-30 13:38:17 +01:00 committed by Daniel Agar
parent 65577a4f89
commit 5155346d60
1 changed files with 1 additions and 1 deletions
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2
src/modules/ekf2/EKF/estimator_interface.cpp
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@ -151,7 +151,7 @@ void EstimatorInterface::setGpsData(const gpsMessage &gps)
if (time_us >= static_cast<int64_t>(_gps_buffer->get_newest().time_us + _min_obs_interval_us)) {
if (!gps.vel_ned_valid) {
if (!gps.vel_ned_valid || (gps.fix_type == 0)) {
return;
}