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Use helper function to switch to gps height

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kamilritz 2019-12-11 16:11:31 +01:00 committed by Mathieu Bresciani
parent 042d9b6615
commit 88c4929c96
1 changed files with 1 additions and 3 deletions
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4
EKF/gps_checks.cpp
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@ -92,9 +92,7 @@ bool Ekf::collect_gps(const gps_message &gps)
// if the user has selected GPS as the primary height source, switch across to using it
if (_params.vdist_sensor_type == VDIST_SENSOR_GPS) {
ECL_INFO_TIMESTAMPED("EKF GPS checks passed (WGS-84 origin set, using GPS height)");
_control_status.flags.baro_hgt = false;
_control_status.flags.gps_hgt = true;
_control_status.flags.rng_hgt = false;
setControlGPSHeight();
// zero the sensor offset
_hgt_sensor_offset = 0.0f;
} else {