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EKF: Don't report local position as valid when in a non-position mode

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Paul Riseborough
2020-12-02 20:54:43 +11:00
committed by Daniel Agar
parent da7d41e78a
commit 44ebfb8c43
2 changed files with 8 additions and 2 deletions
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EKF/ekf.h
+7 -1
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@@ -196,7 +196,13 @@ public:
// and have not started using synthetic position observations to constrain drift // and have not started using synthetic position observations to constrain drift
bool global_position_is_valid() const bool global_position_is_valid() const
{ {
return (_NED_origin_initialised && !_deadreckon_time_exceeded && !_using_synthetic_position); return (_NED_origin_initialised && local_position_is_valid());
}
// return true if the local position estimate is valid
bool local_position_is_valid() const
{
return (!_deadreckon_time_exceeded && !_using_synthetic_position);
} }
bool isTerrainEstimateValid() const { return _hagl_valid; }; bool isTerrainEstimateValid() const { return _hagl_valid; };
EKF/estimator_interface.h
+1 -1
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@@ -159,7 +159,7 @@ public:
int getNumberOfActiveHorizontalAidingSources() const; int getNumberOfActiveHorizontalAidingSources() const;
// return true if the local position estimate is valid // return true if the local position estimate is valid
bool local_position_is_valid() const { return !_deadreckon_time_exceeded; } bool local_position_is_valid() const { return local_position_is_valid(); }
// return true if the EKF is dead reckoning the position using inertial data only // return true if the EKF is dead reckoning the position using inertial data only
bool inertial_dead_reckoning() const { return _is_dead_reckoning; } bool inertial_dead_reckoning() const { return _is_dead_reckoning; }