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Change requires for GSP updated to be set to true (wrong sign on PDOP check)
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@ -455,7 +455,7 @@ static int32_t updateAttitudeINSGPS(bool first_run)
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HomeLocationGet(&home);
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// Have a minimum requirement for gps usage
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gps_updated &= (gpsData.Satellites >= 7) && (gpsData.PDOP >= 3.0f);
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gps_updated &= (gpsData.Satellites >= 7) && (gpsData.PDOP <= 4.0f);
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if (!inited)
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AlarmsSet(SYSTEMALARMS_ALARM_ATTITUDE,SYSTEMALARMS_ALARM_ERROR);
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@ -603,8 +603,8 @@ static int32_t updateAttitudeINSGPS(bool first_run)
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if(gps_updated && outdoor_mode)
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{
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INSSetPosVelVar(1.0f, 1.0f);
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sensors = POS_SENSORS; //HORIZ_SENSORS | VERT_SENSORS;
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INSSetPosVelVar(1e-2f, 1e-2f);
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sensors = POS_SENSORS | HORIZ_SENSORS;
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GPSPositionData gpsPosition;
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GPSPositionGet(&gpsPosition);
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