Merge pull request PX4#149 from PX4/pr-ekf2FixUnwantedGpsUse

EKF: prevent unwanted GPS use
TSC21 · May 23, 2016 · 9f0b990 · 9f0b990
2 parents c8c2d6d + 5a40aa2
commit 9f0b990
Showing 1 changed file with 2 additions and 1 deletion.
diff --git a/EKF/estimator_interface.cpp b/EKF/estimator_interface.cpp
@@ -144,7 +144,8 @@ void EstimatorInterface::setMagData(uint64_t time_usec, float *data)
 void EstimatorInterface::setGpsData(uint64_t time_usec, struct gps_message *gps)
 {
 	// 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 = {};
 		gps_sample_new.time_us = gps->time_usec - _params.gps_delay_ms * 1000;