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Position estimator GPS origin altitude improvement for poor initial GPS epv #11355

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Position estimator GPS origin altitude improvement for poor initial GPS epv #11355

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10 changes: 10 additions & 0 deletions src/main/navigation/navigation_pos_estimator.c
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Original file line number Diff line number Diff line change
Expand Up @@ -175,6 +175,7 @@ void onNewGPSData(void)
static int32_t previousLon;
static int32_t previousAlt;
static bool isFirstGPSUpdate = true;
static bool originAltitudeCorrectionIsActive = true;

gpsLocation_t newLLH;
const timeUs_t currentTimeUs = micros();
Expand Down Expand Up @@ -220,6 +221,15 @@ void onNewGPSData(void)
/* If we were never armed - keep altitude at zero */
geoSetOrigin(&posControl.gpsOrigin, &newLLH, GEO_ORIGIN_RESET_ALTITUDE);
}
else if (ARMING_FLAG(ARMED) && originAltitudeCorrectionIsActive) {
/* Continue updating gps origin altitude after arming if gps epv exceeds max limit
* correcting back to takeoff altitude using estimated altitude */
if (posEstimator.gps.epv >= positionEstimationConfig()->max_eph_epv) {
posControl.gpsOrigin.alt = newLLH.alt - posEstimator.est.pos.z;
} else {
originAltitudeCorrectionIsActive = false;
}
}

if (posControl.gpsOrigin.valid) {
/* Convert LLH position to local coordinates */
Expand Down