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EKF: Enable height source to be selected independent of EV aiding

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Paul Riseborough
2016-05-27 13:14:52 +10:00
parent 00bada8f25
commit 1b6c5bbafd
5 changed files with 37 additions and 16 deletions
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EKF/ekf_helper.cpp
+1 -1
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@@ -204,7 +204,7 @@ void Ekf::resetHeight()
// TODO: reset to last known gps based estimate
}
} else if (_control_status.flags.ev_pos) {
} else if (_control_status.flags.ev_hgt) {
// initialize vertical position with newest measurement
extVisionSample ev_newest = _ext_vision_buffer.get_newest();