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EKF: fix bug preventing GPS use as a backup height source

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This commit is contained in:
Paul Riseborough
2016-06-07 18:50:35 +10:00
parent 5f9752cac8
commit 573f252b73
1 changed files with 1 additions and 1 deletions
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EKF/control.cpp
+1 -1
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@@ -398,7 +398,7 @@ void Ekf::controlGpsFusion()
}
// Determine if GPS should be used as the height source
if ((_params.vdist_sensor_type == VDIST_SENSOR_GPS) && !_gps_hgt_faulty) {
if (((_params.vdist_sensor_type == VDIST_SENSOR_GPS) || _control_status.flags.gps) && !_gps_hgt_faulty) {
_control_status.flags.baro_hgt = false;
_control_status.flags.gps_hgt = true;
_control_status.flags.rng_hgt = false;