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ekf2: only populate gnss pos aid src status if ref initialized 

- this is a minor logging improvement when plotting the position from the beginning of the log (often a replay session)
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Daniel Agar 2024-02-15 13:13:10 -05:00 committed by GitHub
parent 84a7d42566
commit 8dc3975456
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1 changed files with 4 additions and 1 deletions
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5
src/modules/ekf2/EKF/gps_control.cpp
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@ -80,8 +80,11 @@ void Ekf::controlGpsFusion(const imuSample &imu_delayed)
}
}
updateGnssVel(gnss_sample, _aid_src_gnss_vel);
if (_pos_ref.isInitialized()) {
updateGnssPos(gnss_sample, _aid_src_gnss_pos);
}
updateGnssVel(gnss_sample, _aid_src_gnss_vel);
} else if (_control_status.flags.gps) {
if (!isNewestSampleRecent(_time_last_gps_buffer_push, _params.reset_timeout_max)) {