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Use helper function to switch to gps height

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kamilritz
2019-12-11 17:23:45 +02:00
committed by Mathieu Bresciani
parent 042d9b6615
commit 88c4929c96
1 changed files with 1 additions and 3 deletions
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EKF/gps_checks.cpp
+1 -3
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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 the user has selected GPS as the primary height source, switch across to using it
if (_params.vdist_sensor_type == VDIST_SENSOR_GPS) { if (_params.vdist_sensor_type == VDIST_SENSOR_GPS) {
ECL_INFO_TIMESTAMPED("EKF GPS checks passed (WGS-84 origin set, using GPS height)"); ECL_INFO_TIMESTAMPED("EKF GPS checks passed (WGS-84 origin set, using GPS height)");
_control_status.flags.baro_hgt = false; setControlGPSHeight();
_control_status.flags.gps_hgt = true;
_control_status.flags.rng_hgt = false;
// zero the sensor offset // zero the sensor offset
_hgt_sensor_offset = 0.0f; _hgt_sensor_offset = 0.0f;
} else { } else {