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Merge pull request #149 from PX4/pr-ekf2FixUnwantedGpsUse 

EKF: prevent unwanted GPS use
master
Paul Riseborough 9 years ago
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c8c2d6d963 5a40aa2c1a
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9f0b9909e7
1 changed files with 2 additions and 1 deletions
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  1. 3
      EKF/estimator_interface.cpp

3
EKF/estimator_interface.cpp
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@ -144,7 +144,8 @@ void EstimatorInterface::setMagData(uint64_t time_usec, float *data)
void EstimatorInterface::setGpsData(uint64_t time_usec, struct gps_message *gps) void EstimatorInterface::setGpsData(uint64_t time_usec, struct gps_message *gps)
{ {
// Limit the GPS data rate to a maximum of 14Hz // Limit the GPS data rate to a maximum of 14Hz
if (time_usec - _time_last_gps > 65000) { bool need_gps = (_params.fusion_mode & MASK_USE_GPS) || (_params.vdist_sensor_type == VDIST_SENSOR_GPS);
if (time_usec - _time_last_gps > 65000 && need_gps) {
gpsSample gps_sample_new = {}; gpsSample gps_sample_new = {};
gps_sample_new.time_us = gps->time_usec - _params.gps_delay_ms * 1000; gps_sample_new.time_us = gps->time_usec - _params.gps_delay_ms * 1000;

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