EKF: don't accept GPS data without a 3D lock

8 years ago · 9bb54ccc08
1 changed files with 1 additions and 1 deletions
--- a/EKF/estimator_interface.cpp
+++ b/EKF/estimator_interface.cpp
@ -178,7 +178,7 @@ void EstimatorInterface::setGpsData(uint64_t time_usec, struct gps_message *gps)
				@@ -178,7 +178,7 @@ void EstimatorInterface::setGpsData(uint64_t time_usec, struct gps_message *gps)

 	// limit data rate to prevent data being lost
 	bool need_gps = (_params.fusion_mode & MASK_USE_GPS) || (_params.vdist_sensor_type == VDIST_SENSOR_GPS);
-	if (((time_usec - _time_last_gps) > _min_obs_interval_us) && need_gps) {
+	if (((time_usec - _time_last_gps) > _min_obs_interval_us) && need_gps && gps->fix_type > 2) {
 		gpsSample gps_sample_new = {};
 		gps_sample_new.time_us = gps->time_usec - _params.gps_delay_ms * 1000;