AP_NavEKF2: switch to optflow if gps is jammed

ArduPilot · Oct 4, 2019 · 71f83a1 · 71f83a1
1 parent 49bf0a3
commit 71f83a1
Showing 1 changed file with 3 additions and 0 deletions.
diff --git a/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp b/libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
@@ -250,6 +250,9 @@ void NavEKF2_core::setAidingMode()
             tasTimeout = true;
             gpsNotAvailable = true;
         } else if (posAidLossCritical) {
+            if ((frontend->_flowUse & FLOW_USE_NAV) && optFlowDataPresent()) {
+                PV_AidingMode = AID_NONE;
+            }
             // if the loss of position is critical, declare all sources of position aiding as being timed out
             posTimeout = true;
             velTimeout = true;