diff options
| author | Anton Babushkin <anton.babushkin@me.com> | 2014-03-27 00:27:11 +0400 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-03-27 00:27:11 +0400 |
| commit | 83da4ae02dfc61d6a7f80ae40660826fbbca81be (patch) | |
| tree | 22a932c0da0ea382bad423a6c47551cd2db7bef9 /src/modules/attitude_estimator_ekf | |
| parent | e2305d93bd52fb86fde24fb331552483bb25dd7b (diff) | |
| download | px4-firmware-83da4ae02dfc61d6a7f80ae40660826fbbca81be.tar.gz px4-firmware-83da4ae02dfc61d6a7f80ae40660826fbbca81be.tar.bz2 px4-firmware-83da4ae02dfc61d6a7f80ae40660826fbbca81be.zip | |
'vehicle_global_position' topic updated: removed baro_alt and XXX_valid flags.
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; |