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Use ternary operator

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kamilritz
2020-07-16 18:25:06 +02:00
committed by Mathieu Bresciani
parent 46a5e6e428
commit 93011ed52c
1 changed files with 1 additions and 6 deletions
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EKF/control.cpp
+1 -6
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@@ -391,12 +391,7 @@ void Ekf::controlOpticalFlowFusion()
if (_flow_data_ready) {
// Inhibit flow use if motion is un-suitable or we have good quality GPS
// Apply hysteresis to prevent rapid mode switching
float gps_err_norm_lim;
if (_control_status.flags.opt_flow) {
gps_err_norm_lim = 0.7f;
} else {
gps_err_norm_lim = 1.0f;
}
const float gps_err_norm_lim = _control_status.flags.opt_flow ? 0.7f : 1.0f;
// Check if we are in-air and require optical flow to control position drift
bool flow_required = _control_status.flags.in_air &&