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ekf2: Fix bug preventing first IMU failover bias reset

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Paul Riseborough
2017-10-30 08:21:09 +01:00
committed by Lorenz Meier
parent 0c9e07c95a
commit 589d58ce87
1 changed files with 2 additions and 1 deletions
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src/modules/ekf2/ekf2_main.cpp
+2 -1
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@@ -561,7 +561,8 @@ void Ekf2::run()
orb_check(sensor_selection_sub, &sensor_selection_updated);
if (sensor_selection_updated) {
// Always update sensor selction first time through if time stamp is non zero
if (sensor_selection_updated || (sensor_selection.timestamp == 0)) {
sensor_selection_s sensor_selection_prev = sensor_selection;
orb_copy(ORB_ID(sensor_selection), sensor_selection_sub, &sensor_selection);