From 83da4ae02dfc61d6a7f80ae40660826fbbca81be Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Thu, 27 Mar 2014 00:27:11 +0400 Subject: 'vehicle_global_position' topic updated: removed baro_alt and XXX_valid flags. --- src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) (limited to 'src/modules/attitude_estimator_ekf') 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; -- cgit v1.2.3