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Merge pull request #98 from priseborough/pr-ekf2StatusReporting

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EKF: improve reporting of filter status
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Lorenz Meier
2016-04-20 11:44:02 +02:00
parent 6344fa0e8c 2fa8a11a29
commit 9487eac505
4 changed files with 19 additions and 1 deletions
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EKF/estimator_interface.cpp
+1 -1
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@@ -366,5 +366,5 @@ void EstimatorInterface::unallocate_buffers()
bool EstimatorInterface::local_position_is_valid()
{
// return true if the position estimate is valid
return ((_time_last_imu - _time_last_optflow) < 5e6) || global_position_is_valid();
return (((_time_last_imu - _time_last_optflow) < 5e6) && _control_status.flags.opt_flow) || global_position_is_valid();
}