From 47973a4820a31bbe4cb0e136ed8c102983d1836d Mon Sep 17 00:00:00 2001 From: ChristophTobler Date: Fri, 12 May 2017 14:52:05 +0200 Subject: [PATCH] run terrain estimator after control fusion modes. Otherwise _range_data_ready will never be true and fuseHagl() will never run --- EKF/ekf.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp index e374c69685..b87eb1b9b8 100644 --- a/EKF/ekf.cpp +++ b/EKF/ekf.cpp @@ -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