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EKF add clarity brackets to avoid potential confusion

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- fixes https://github.com/PX4/ecl/issues/555
This commit is contained in:
Daniel Agar
2019-01-30 09:15:53 -05:00
parent 721f5e61a5
commit a5e6191ba7
4 changed files with 36 additions and 36 deletions
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EKF/terrain_estimator.cpp
+2 -2
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@@ -149,7 +149,7 @@ void Ekf::fuseHagl()
_innov_check_fail_status.flags.reject_hagl = false;
} else {
// If we have been rejecting range data for too long, reset to measurement
if (_time_last_imu - _time_last_hagl_fuse > (uint64_t)10E6) {
if ((_time_last_imu - _time_last_hagl_fuse) > (uint64_t)10E6) {
_terrain_vpos = _state.pos(2) + meas_hagl;
_terrain_var = obs_variance;
} else {
@@ -171,7 +171,7 @@ bool Ekf::get_terrain_valid()
// determine terrain validity
void Ekf::update_terrain_valid()
{
if (_terrain_initialised && (_time_last_imu - _time_last_hagl_fuse < (uint64_t)5e6)) {
if (_terrain_initialised && ((_time_last_imu - _time_last_hagl_fuse) < (uint64_t)5e6)) {
_hagl_valid = true;