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author | Julian Oes <julian@oes.ch> | 2014-04-26 23:08:11 +0200 |
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committer | Julian Oes <julian@oes.ch> | 2014-04-26 23:08:11 +0200 |
commit | e8531e8360e4f061f3cd69db90365f64837a7c76 (patch) | |
tree | fda98a4bf7bd67f339757f921a01976b45e37236 /src/modules/attitude_estimator_ekf | |
parent | 3a12cb46487980dbf85f4606e316d9643a2b3b23 (diff) | |
parent | 13dfe0447ccfa4f75b551d02b5c979a6ade4c81a (diff) | |
download | px4-firmware-e8531e8360e4f061f3cd69db90365f64837a7c76.tar.gz px4-firmware-e8531e8360e4f061f3cd69db90365f64837a7c76.tar.bz2 px4-firmware-e8531e8360e4f061f3cd69db90365f64837a7c76.zip |
Merge remote-tracking branch 'px4/ekf_home_init' into navigator_cleanup_ekf_home_init
Conflicts:
src/modules/commander/commander.cpp
src/modules/mc_pos_control/mc_pos_control_main.cpp
src/modules/navigator/navigator_main.cpp
src/modules/uORB/topics/vehicle_global_position.h
Diffstat (limited to 'src/modules/attitude_estimator_ekf')
-rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 10a6cd2c5..c61b6ff3f 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -407,7 +407,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds vel(2) = gps.vel_d_m_s; } - } else if (ekf_params.acc_comp == 2 && global_pos.global_valid && hrt_absolute_time() < global_pos.timestamp + 500000) { + } else if (ekf_params.acc_comp == 2 && gps.eph_m < 5.0f && global_pos.timestamp != 0 && hrt_absolute_time() < global_pos.timestamp + 20000) { vel_valid = true; if (global_pos_updated) { vel_t = global_pos.timestamp; |