From d06dc33dedb544639b3b93d47bb690978b137f93 Mon Sep 17 00:00:00 2001 From: bresch Date: Sat, 11 Jan 2020 23:25:10 +0100 Subject: [PATCH] range_finder_checks: do not override range_hgt_valid flag with rng_stuck flag Thif fixes the issue where the range finder data is always set to valid if not stuck. --- EKF/range_finder_checks.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/EKF/range_finder_checks.cpp b/EKF/range_finder_checks.cpp index 5ff08da384..bf54e50a7a 100644 --- a/EKF/range_finder_checks.cpp +++ b/EKF/range_finder_checks.cpp @@ -104,7 +104,7 @@ void Ekf::updateRangeDataValidity() updateRangeDataStuck(); - _rng_hgt_valid = !_control_status.flags.rng_stuck; + _rng_hgt_valid = _rng_hgt_valid && !_control_status.flags.rng_stuck; } void Ekf::updateRangeDataStuck()