From 78b7ba33a5f04a11ac859aecfb72ff34d75cb7ff Mon Sep 17 00:00:00 2001 From: ggregory8 Date: Sun, 22 Jun 2014 09:53:33 +0800 Subject: Fix to allow filter correction with vision position estimate --- src/modules/position_estimator_inav/position_estimator_inav_main.c | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) (limited to 'src/modules/position_estimator_inav/position_estimator_inav_main.c') 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); -- cgit v1.2.3