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EKF: Don't report local position as valid when in a non-position mode

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Paul Riseborough
2020-12-08 18:03:04 -05:00
committed by Daniel Agar
parent da7d41e78a
commit 44ebfb8c43
2 changed files with 8 additions and 2 deletions
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EKF/estimator_interface.h
+1 -1
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@@ -159,7 +159,7 @@ public:
int getNumberOfActiveHorizontalAidingSources() const;
// return true if the local position estimate is valid
bool local_position_is_valid() const { return !_deadreckon_time_exceeded; }
bool local_position_is_valid() const { return local_position_is_valid(); }
// return true if the EKF is dead reckoning the position using inertial data only
bool inertial_dead_reckoning() const { return _is_dead_reckoning; }