addressed review comments

Signed-off-by: RomanBapst <bapstroman@gmail.com>
2026-10-21 17:53:34 +08:00 · 2019-10-24 07:55:37 +11:00
parent 6bc6f26043
commit 16d1e15b51
3 changed files with 17 additions and 17 deletions
@@ -1176,7 +1176,7 @@ void Ekf::checkRangeAidSuitability()
 				    || _control_status.flags.opt_flow;

 	if (_control_status.flags.in_air
-	    && !_rng_hgt_faulty
+	    && _rng_hgt_valid
 	    && isTerrainEstimateValid()
 	    && horz_vel_valid) {
 		// check if we can use range finder measurements to estimate height, use hysteresis to avoid rapid switching