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Fuse flow only if it is activated in param LPE_FUSION

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Julien Lecoeur
2017-06-04 04:20:46 +08:00
committed by Lorenz Meier
parent a64e9bfa03
commit 70ccfe80a7
1 changed files with 1 additions and 1 deletions
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src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
+1 -1
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@@ -279,7 +279,6 @@ void BlockLocalPositionEstimator::update()
_lastArmedState = armedState; _lastArmedState = armedState;
// see which updates are available // see which updates are available
bool flowUpdated = _sub_flow.updated();
bool paramsUpdated = _sub_param_update.updated(); bool paramsUpdated = _sub_param_update.updated();
bool baroUpdated = false; 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 gpsUpdated = (_fusion.get() & FUSE_GPS) && _sub_gps.updated();
bool visionUpdated = (_fusion.get() & FUSE_VIS_POS) && _sub_vision_pos.updated(); bool visionUpdated = (_fusion.get() & FUSE_VIS_POS) && _sub_vision_pos.updated();
bool mocapUpdated = _sub_mocap.updated(); bool mocapUpdated = _sub_mocap.updated();