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ekf2 update setGpsData usage

This commit is contained in:
Daniel Agar 2019-03-05 23:28:26 -05:00 committed by GitHub
parent a97151feed
commit beca16fa37
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2 changed files with 3 additions and 3 deletions
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2
src/lib/ecl

@ -1 +1 @@
Subproject commit 1378ec179717448404c74819871d149217350b19
Subproject commit a85d3a43edc4ac4b85ae21159510b9c26f7359e6

4
src/modules/ekf2/ekf2_main.cpp
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@ -1027,7 +1027,7 @@ void Ekf2::run()
if ((_gps_blend_mask.get() == 0) && gps1_updated) {
// When GPS blending is disabled we always use the first receiver instance
_ekf.setGpsData(_gps_state[0].time_usec, &_gps_state[0]);
_ekf.setGpsData(_gps_state[0].time_usec, _gps_state[0]);
} else if ((_gps_blend_mask.get() > 0) && (gps1_updated || gps2_updated)) {
// blend dual receivers if available
@ -1072,7 +1072,7 @@ void Ekf2::run()
}
// write selected GPS to EKF
_ekf.setGpsData(_gps_output[_gps_select_index].time_usec, &_gps_output[_gps_select_index]);
_ekf.setGpsData(_gps_output[_gps_select_index].time_usec, _gps_output[_gps_select_index]);
// log blended solution as a third GPS instance
ekf_gps_position_s gps;