diff options
| author | Johan Jansen <jnsn.johan@gmail.com> | 2015-04-17 11:18:02 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-04-18 17:23:19 +0200 |
| commit | b7a6f18ca6b72529021e6fe3d5bf741673756f70 (patch) | |
| tree | ac58516dda56c82545f1d330ef1faf569ac87e73 | |
| parent | 2e824bbeea8787a3166ce47cad90e622a3678b25 (diff) | |
| download | px4-firmware-b7a6f18ca6b72529021e6fe3d5bf741673756f70.tar.gz px4-firmware-b7a6f18ca6b72529021e6fe3d5bf741673756f70.tar.bz2 px4-firmware-b7a6f18ca6b72529021e6fe3d5bf741673756f70.zip | |
AttPosEKF: Only fuse GPS velocity if they are valid
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp index 33289dacb..4e1573d99 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_main.cpp @@ -937,7 +937,7 @@ void AttitudePositionEstimatorEKF::updateSensorFusion(const bool fuseGPS, const // Convert GPS measurements to Pos NE, hgt and Vel NED // set fusion flags - _ekf->fuseVelData = true; + _ekf->fuseVelData = _gps.vel_ned_valid; _ekf->fusePosData = true; // recall states stored at time of measurement after adjusting for delays |