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EKF: Fallback to optical flow for all in-flight loss of navigation scenarios

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Paul Riseborough
2018-06-09 22:23:55 +02:00
committed by Lorenz Meier
parent b4d2b8c57d
commit 6bdbe032f9
2 changed files with 10 additions and 8 deletions
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EKF/ekf.h
+1 -1
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@@ -436,7 +436,7 @@ private:
bool _bad_vert_accel_detected{false}; ///< true when bad vertical accelerometer data has been detected
// variables used to control range aid functionality
bool _range_aid_mode_enabled{false}; ///< true when range finder can be used as the height reference instead of the primary height sensor
bool _range_aid_mode_enabled{false}; ///< true when range finder can be used in flight as the height reference instead of the primary height sensor
bool _range_aid_mode_selected{false}; ///< true when range finder is being used as the height reference instead of the primary height sensor
// variables used to check for "stuck" rng data