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EKF: clean up reset of fusion flags

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This commit is contained in:
Paul Riseborough
2017-11-21 11:18:09 +11:00
parent 8e30c2666d
commit 2a57fd858d
2 changed files with 3 additions and 2 deletions
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EKF/control.cpp
-2
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@@ -1358,7 +1358,6 @@ void Ekf::controlVelPosFusion()
// Fuse available NED velocity and position data into the main filter
if (_fuse_height || _fuse_pos || _fuse_hor_vel || _fuse_vert_vel) {
fuseVelPosHeight();
_fuse_hor_vel = _fuse_vert_vel = _fuse_pos = _fuse_height = false;
}
}
@@ -1376,6 +1375,5 @@ void Ekf::controlAuxVelFusion()
_velObsVarNE = _auxvel_sample_delayed.velVarNE;
_hvelInnovGate = _params.auxvel_gate;
fuseVelPosHeight();
_fuse_hor_vel = _fuse_vert_vel = _fuse_pos = _fuse_height = false;
}
}