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ekf: add range finder "faulty" status

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When delclared faulty, the range finder cannot be used anymore
This commit is contained in:
bresch
2022-02-07 10:31:28 +01:00
committed by Daniel Agar
parent a3b2550f07
commit 5818974f0f
6 changed files with 8 additions and 1 deletions
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src/modules/ekf2/EKF/sensor_range_finder.cpp
+1 -1
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@@ -62,7 +62,7 @@ void SensorRangeFinder::updateValidity(uint64_t current_time_us)
{
updateDtDataLpf(current_time_us);
if (isSampleOutOfDate(current_time_us) || !isDataContinuous()) {
if (_is_faulty || isSampleOutOfDate(current_time_us) || !isDataContinuous()) {
_is_sample_valid = false;
_is_regularly_sending_data = false;
return;