run terrain estimator after control fusion modes. Otherwise _range_data_ready will never be true and fuseHagl() will never run

2026-10-13 23:43:33 +08:00 · 2017-05-15 07:42:51 +02:00
parent 9c31632e2b
commit 47973a4820
1 changed files with 3 additions and 3 deletions
@@ -127,12 +127,12 @@ bool Ekf::update()
 		predictState();
 		predictCovariance();

-		// run a separate filter for terrain estimation
-		runTerrainEstimator();
-
 		// control fusion of observation data
 		controlFusionModes();

+		// run a separate filter for terrain estimation
+		runTerrainEstimator();
+
 	}

 	// the output observer always runs