From 2b75d2e738eaab9950f483da4c3b948b4d4f8d1a Mon Sep 17 00:00:00 2001 From: RomanBapst Date: Mon, 10 Feb 2025 16:38:44 +0300 Subject: [PATCH] run fog check independently from stuck check Signed-off-by: RomanBapst --- .../EKF/aid_sources/range_finder/sensor_range_finder.cpp | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.cpp b/src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.cpp index 67197a4a61..ab1c747e01 100644 --- a/src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.cpp +++ b/src/modules/ekf2/EKF/aid_sources/range_finder/sensor_range_finder.cpp @@ -83,10 +83,7 @@ void SensorRangeFinder::updateValidity(uint64_t current_time_us) } updateStuckCheck(); - - if (!_is_stuck) { - updateFogCheck(getDistBottom(), _sample.time_us); - } + updateFogCheck(getDistBottom(), _sample.time_us); if (!_is_stuck && !_is_blocked) { _is_sample_valid = true;