From 93be6ea49a22b08a4bc42010a7c537640eae09fc Mon Sep 17 00:00:00 2001 From: CarlOlsson Date: Mon, 24 Feb 2020 16:27:16 +0100 Subject: [PATCH] EKF: dont print wrong reset message on baro timeout Signed-off-by: CarlOlsson --- EKF/control.cpp | 10 +++------- 1 file changed, 3 insertions(+), 7 deletions(-) diff --git a/EKF/control.cpp b/EKF/control.cpp index 2e08319265..f2743f1d08 100644 --- a/EKF/control.cpp +++ b/EKF/control.cpp @@ -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);