ekf_check: if GPS glitch is active when GPS is regained, set gps glit…

…ch mode revert flag * should prevent vehicle from staying in ALT_HOLD after the following FS sequence: 1. GPS LOST 2. GPS DEGRADED 3. GPS REGAINED 4. GPS RECOVERED
3drobotics · Sep 12, 2016 · 7d2cb35 · 7d2cb35
1 parent 6806840
commit 7d2cb35
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Showing 2 changed files with 4 additions and 1 deletion.
diff --git a/ArduCopter/ekf_check.pde b/ArduCopter/ekf_check.pde
@@ -176,7 +176,9 @@ static void failsafe_ekf_off_event(void)
     Log_Write_Error(ERROR_SUBSYSTEM_FAILSAFE_EKFINAV, ERROR_CODE_FAILSAFE_RESOLVED);
 
     if (ekf_check_switch_mode_on_resolve) {
-        if (!mode_requires_RC(ekf_check_mode_before_fs_on)) {
+        if (failsafe.gps_glitch) {
+            gps_glitch_switch_mode_on_resolve = true;
+        } else if (!mode_requires_RC(ekf_check_mode_before_fs_on)) {
             set_mode_RTL_or_land_with_pause();
         } else if (mode_requires_GPS(ekf_check_mode_before_fs_on)) {
             set_mode(LOITER);

diff --git a/Tools/autotest/copter_params.parm b/Tools/autotest/copter_params.parm
@@ -1,5 +1,6 @@
 FRAME		0
 MAG_ENABLE	1
+FS_EKF_ACTION   2
 FS_THR_ENABLE   1
 BATT_MONITOR    4
 CH7_OPT         7