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Remove dangerous _primary_hgt_source variable

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kamilritz
2019-12-11 17:23:45 +02:00
committed by Mathieu Bresciani
parent 66f707ede0
commit 042d9b6615
3 changed files with 1 additions and 7 deletions
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EKF/gps_checks.cpp
+1 -1
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@@ -90,7 +90,7 @@ bool Ekf::collect_gps(const gps_message &gps)
_gps_origin_epv = gps.epv;
// if the user has selected GPS as the primary height source, switch across to using it
if (_primary_hgt_source == VDIST_SENSOR_GPS) {
if (_params.vdist_sensor_type == VDIST_SENSOR_GPS) {
ECL_INFO_TIMESTAMPED("EKF GPS checks passed (WGS-84 origin set, using GPS height)");
_control_status.flags.baro_hgt = false;
_control_status.flags.gps_hgt = true;