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| author | ggregory8 <glenn.gregory8@gmail.com> | 2014-06-22 09:53:33 +0800 |
|---|---|---|
| committer | ggregory8 <glenn.gregory8@gmail.com> | 2014-06-22 09:53:33 +0800 |
| commit | 78b7ba33a5f04a11ac859aecfb72ff34d75cb7ff (patch) | |
| tree | 5a4cac1b0640bf5ede35e1d4617db75c42833bed /src/modules/position_estimator_inav | |
| parent | 57a7e764068178e365b05b7baaa39041762f2e96 (diff) | |
| download | px4-firmware-78b7ba33a5f04a11ac859aecfb72ff34d75cb7ff.tar.gz px4-firmware-78b7ba33a5f04a11ac859aecfb72ff34d75cb7ff.tar.bz2 px4-firmware-78b7ba33a5f04a11ac859aecfb72ff34d75cb7ff.zip | |
Fix to allow filter correction with vision position estimate
Diffstat (limited to 'src/modules/position_estimator_inav')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 4 |
1 files changed, 2 insertions, 2 deletions
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 9ab21ee38..a6a4db3eb 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -781,8 +781,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) epv += 0.005 * dt; // add 1m to EPV each 200s (baro drift) /* use GPS if it's valid and reference position initialized */ - bool use_gps_xy = ref_inited && gps_valid && params.w_xy_gps_p > MIN_VALID_W; - bool use_gps_z = ref_inited && gps_valid && params.w_z_gps_p > MIN_VALID_W; + bool use_gps_xy = (ref_inited && gps_valid && params.w_xy_gps_p > MIN_VALID_W) || vision_valid; + bool use_gps_z = (ref_inited && gps_valid && params.w_z_gps_p > MIN_VALID_W) || vision_valid; /* use flow if it's valid and (accurate or no GPS available) */ bool use_flow = flow_valid && (flow_accurate || !use_gps_xy); |