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[paparazzi-commits] [paparazzi/paparazzi] a2058b: [ins] prevent propagat
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[paparazzi-commits] [paparazzi/paparazzi] a2058b: [ins] prevent propagation if there are no measurem... |
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Date: |
Wed, 15 Jul 2015 12:22:15 -0700 |
Branch: refs/heads/master
Home: https://github.com/paparazzi/paparazzi
Commit: a2058b5feaff10a276f928e66d3bfdd159531ce0
https://github.com/paparazzi/paparazzi/commit/a2058b5feaff10a276f928e66d3bfdd159531ce0
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:
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[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.