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ekf2: replace _inhibit_ev_yaw_use with local flag

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Daniel Agar
2022-03-21 15:41:31 -04:00
parent cdf9e6d35a
commit 2f0c2fa126
4 changed files with 4 additions and 11 deletions
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src/modules/ekf2/EKF/control.cpp
+4 -2
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@@ -201,7 +201,9 @@ void Ekf::controlExternalVisionFusion()
reset = true;
}
if (_inhibit_ev_yaw_use) {
bool inhibit_ev_yaw_use = _control_status.flags.gps || _control_status.flags.gps_yaw;
if (inhibit_ev_yaw_use) {
stopEvYawFusion();
}
@@ -232,7 +234,7 @@ void Ekf::controlExternalVisionFusion()
}
// external vision yaw aiding selection logic
if (!_inhibit_ev_yaw_use && (_params.fusion_mode & MASK_USE_EVYAW) && !_control_status.flags.ev_yaw
if (!inhibit_ev_yaw_use && (_params.fusion_mode & MASK_USE_EVYAW) && !_control_status.flags.ev_yaw
&& _control_status.flags.tilt_align) {
// don't start using EV data unless data is arriving frequently