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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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EKF/ekf_helper.cpp
+2 -2
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@@ -61,7 +61,6 @@ bool Ekf::resetVelocity()
if (_time_last_imu - gps_newest.time_us < 2*GPS_MAX_INTERVAL) { if (_time_last_imu - gps_newest.time_us < 2*GPS_MAX_INTERVAL) {
_state.vel = gps_newest.vel; _state.vel = gps_newest.vel;
return true;
} else { } else {
// XXX use the value of the last known velocity // 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) { } else if (_control_status.flags.opt_flow || _control_status.flags.ev_pos) {
_state.vel.setZero(); _state.vel.setZero();
return true;
} else { } else {
return false; return false;
} }
@@ -91,6 +90,7 @@ bool Ekf::resetVelocity()
_state_reset_status.velNE_counter++; _state_reset_status.velNE_counter++;
_state_reset_status.velD_counter++; _state_reset_status.velD_counter++;
return true;
} }
// Reset position states. If we have a recent and valid // Reset position states. If we have a recent and valid