From ec1a14bc6b8f34eff30c8526c29e8a0839b90937 Mon Sep 17 00:00:00 2001 From: Nic Date: Thu, 5 Jan 2017 21:47:13 -0800 Subject: [PATCH 1/2] height counter needs to be updated with ev counter value when our primary height source is set to ev --- EKF/ekf.cpp | 3 ++- 1 file changed, 2 insertions(+), 1 deletion(-) diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp index c39bff3d09..1464bafb70 100644 --- a/EKF/ekf.cpp +++ b/EKF/ekf.cpp @@ -341,7 +341,8 @@ bool Ekf::initialiseFilter(void) } } else if (_primary_hgt_source == VDIST_SENSOR_EV) { - // do nothing becasue vision data is checked elsewhere + // vision data counters are sampled elsewhere + _hgt_counter = _ev_counter; } else { return false; } From 092cc52838ad8d9d214ced06e59bdbe80f5f75bc Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Fri, 10 Mar 2017 14:18:13 +1100 Subject: [PATCH 2/2] EKF: Remove out of date comment --- EKF/ekf.cpp | 1 - 1 file changed, 1 deletion(-) diff --git a/EKF/ekf.cpp b/EKF/ekf.cpp index 1464bafb70..0fe39caf3d 100644 --- a/EKF/ekf.cpp +++ b/EKF/ekf.cpp @@ -341,7 +341,6 @@ bool Ekf::initialiseFilter(void) } } else if (_primary_hgt_source == VDIST_SENSOR_EV) { - // vision data counters are sampled elsewhere _hgt_counter = _ev_counter; } else { return false;