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EKF: Fix bug causing simultaneous range and baro height fusion (#429)

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This commit is contained in:
Paul Riseborough
2018-05-03 13:24:33 +10:00
committed by GitHub
parent a14434d6dc
commit 1bd1809d6e
1 changed files with 2 additions and 4 deletions
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EKF/control.cpp
+2 -4
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@@ -836,8 +836,7 @@ void Ekf::controlHeightFusion()
}
}
} else if (_baro_data_ready && !_baro_hgt_faulty &&
!(_in_range_aid_mode && !_range_data_ready && !_rng_hgt_faulty)) {
} else if (!_in_range_aid_mode && _baro_data_ready && !_baro_hgt_faulty) {
setControlBaroHeight();
_fuse_height = true;
_in_range_aid_mode = false;
@@ -920,8 +919,7 @@ void Ekf::controlHeightFusion()
}
}
} else if (_gps_data_ready && !_gps_hgt_faulty &&
!(_in_range_aid_mode && !_range_data_ready && !_rng_hgt_faulty)) {
} else if (!_in_range_aid_mode && _gps_data_ready && !_gps_hgt_faulty) {
setControlGPSHeight();
_fuse_height = true;
_in_range_aid_mode = false;