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EKF: dont print wrong reset message on baro timeout

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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
This commit is contained in:
CarlOlsson 2020-02-24 16:27:16 +01:00 committed by Mathieu Bresciani
parent bcd3869ca2
commit 93be6ea49a
1 changed files with 3 additions and 7 deletions
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10
EKF/control.cpp
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@ -848,10 +848,9 @@ void Ekf::controlHeightSensorTimeouts()
ECL_WARN_TIMESTAMPED("baro hgt timeout - reset to baro");
}
}
// handle the case we are using GPS for height
if (_control_status.flags.gps_hgt) {
} else if (_control_status.flags.gps_hgt) {
// check if GPS height is available
const gpsSample &gps_init = _gps_buffer.get_newest();
const bool gps_hgt_accurate = (gps_init.vacc < _params.req_vacc);
@ -883,11 +882,9 @@ void Ekf::controlHeightSensorTimeouts()
ECL_WARN_TIMESTAMPED("gps hgt timeout - reset to GPS");
}
}
// handle the case we are using range finder for height
if (_control_status.flags.rng_hgt) {
} else if (_control_status.flags.rng_hgt) {
// check if baro data is available
const baroSample &baro_init = _baro_buffer.get_newest();
const bool baro_data_available = isRecent(baro_init.time_us, 2 * BARO_MAX_INTERVAL);
@ -909,10 +906,9 @@ void Ekf::controlHeightSensorTimeouts()
ECL_WARN_TIMESTAMPED("rng hgt timeout - reset to baro");
}
}
// handle the case where we are using external vision data for height
if (_control_status.flags.ev_hgt) {
} else if (_control_status.flags.ev_hgt) {
// check if vision data is available
const extVisionSample &ev_init = _ext_vision_buffer.get_newest();
const bool ev_data_available = isRecent(ev_init.time_us, 2 * EV_MAX_INTERVAL);