From 27e61127a814830139c35d430df921dfb1c088b8 Mon Sep 17 00:00:00 2001 From: Roman Date: Thu, 23 Jun 2016 09:08:08 +0200 Subject: [PATCH] ekf2: fix if else logic Signed-off-by: Roman --- src/modules/ekf2/ekf2_main.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index 96dae5ee69..274d924032 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -672,8 +672,8 @@ void Ekf2::task_main() ctrl_state.airspeed = airspeed.indicated_airspeed_m_s; ctrl_state.airspeed_valid = true; } - } - if (_airspeed_mode.get() == control_state_s::AIRSPD_MODE_EST) { + + } else if (_airspeed_mode.get() == control_state_s::AIRSPD_MODE_EST) { if (_ekf.local_position_is_valid()) { ctrl_state.airspeed = sqrtf(vel[0] * vel[0] + vel[1] * vel[1] + vel[2] * vel[2]); ctrl_state.airspeed_valid = true;