From 70ccfe80a7ff0e086b74eb92b9209ff9e1dd54a5 Mon Sep 17 00:00:00 2001 From: Julien Lecoeur Date: Tue, 23 May 2017 11:30:04 +0200 Subject: [PATCH] Fuse flow only if it is activated in param LPE_FUSION --- .../local_position_estimator/BlockLocalPositionEstimator.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp index 0ce8fa4739..8dd6a66b4f 100644 --- a/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp +++ b/src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp @@ -279,7 +279,6 @@ void BlockLocalPositionEstimator::update() _lastArmedState = armedState; // see which updates are available - bool flowUpdated = _sub_flow.updated(); bool paramsUpdated = _sub_param_update.updated(); bool baroUpdated = false; @@ -297,6 +296,7 @@ void BlockLocalPositionEstimator::update() } } + bool flowUpdated = (_fusion.get() & FUSE_FLOW) && _sub_flow.updated(); bool gpsUpdated = (_fusion.get() & FUSE_GPS) && _sub_gps.updated(); bool visionUpdated = (_fusion.get() & FUSE_VIS_POS) && _sub_vision_pos.updated(); bool mocapUpdated = _sub_mocap.updated();