fly316/PX4-Autopilot
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do not return early in velocity reset method otherwise

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some code will not be executed
This commit is contained in:
Roman 2016-06-08 07:51:18 +02:00
parent 928a7dd059
commit 703fb4e31b
1 changed files with 2 additions and 2 deletions
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4
EKF/ekf_helper.cpp
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@ -61,7 +61,6 @@ bool Ekf::resetVelocity()
if (_time_last_imu - gps_newest.time_us < 2*GPS_MAX_INTERVAL) {
_state.vel = gps_newest.vel;
return true;
} else {
// XXX use the value of the last known velocity
@ -69,7 +68,7 @@ bool Ekf::resetVelocity()
}
} else if (_control_status.flags.opt_flow || _control_status.flags.ev_pos) {
_state.vel.setZero();
return true;
} else {
return false;
}
@ -91,6 +90,7 @@ bool Ekf::resetVelocity()
_state_reset_status.velNE_counter++;
_state_reset_status.velD_counter++;
return true;
}
// Reset position states. If we have a recent and valid