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EKF - Initialize _deadrekon_time_exceeded to true.
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If no sample have been received, deadrekoning and local position should be invalid.
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bresch authored and dagar committed Jun 28, 2019
1 parent a036cf8 commit e175118
Showing 1 changed file with 1 addition and 1 deletion.
2 changes: 1 addition & 1 deletion EKF/estimator_interface.h
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Expand Up @@ -492,7 +492,7 @@ class EstimatorInterface
innovation_fault_status_u _innov_check_fail_status{};

bool _is_dead_reckoning{false}; // true if we are no longer fusing measurements that constrain horizontal velocity drift
bool _deadreckon_time_exceeded{false}; // true if the horizontal nav solution has been deadreckoning for too long and is invalid
bool _deadreckon_time_exceeded{true}; // true if the horizontal nav solution has been deadreckoning for too long and is invalid
bool _is_wind_dead_reckoning{false}; // true if we are navigationg reliant on wind relative measurements

// IMU vibration and movement monitoring
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