[paparazzi-commits] [paparazzi/paparazzi] 0a46a0: [ins] prevent propagation if there are no measurem...

[GitHub]

  Branch: refs/heads/ins_propagation_timeout
  Home:   https://github.com/paparazzi/paparazzi
  Commit: 0a46a0a2411cbe75d29affed8efe5e79f6426e30
      
https://github.com/paparazzi/paparazzi/commit/0a46a0a2411cbe75d29affed8efe5e79f6426e30
  Author: Felix Ruess <address@hidden>
  Date:   2015-07-15 (Wed, 15 Jul 2015)

  Changed paths:
    M sw/airborne/subsystems/ins/ins_int.c
    M sw/airborne/subsystems/ins/ins_int.h

  Log Message:
  -----------
  [ins] prevent propagation if there are no measurement updates

To prevent the position and velocity estimation from running away while you 
only have accel measurements (done in the propagation),
Propagate only if we got any measurement during the last 
INS_MAX_PROPAGATION_STEPS.
Otherwise halt the propagation to not diverge and only set the acceleration.
This should only be relevant in the startup phase when the baro is not yet 
initialized
and there is no gps fix yet...

Should fix the last remaining part of #1237 in a more generic and robust way.