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fixed wrong condition on which gps height would be fused (#180)

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- this solves the issue where height innovations would jump
between two regimes

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman Bapst
2016-08-05 14:45:48 +02:00
committed by Lorenz Meier
parent 168d9add76
commit df0f8fed45
1 changed files with 1 additions and 1 deletions
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EKF/control.cpp
+1 -1
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@@ -398,7 +398,7 @@ void Ekf::controlGpsFusion()
}
// Determine if GPS should be used as the height source
if (((_params.vdist_sensor_type == VDIST_SENSOR_GPS) || _control_status.flags.gps) && !_gps_hgt_faulty) {
if (((_params.vdist_sensor_type == VDIST_SENSOR_GPS)) && !_gps_hgt_faulty) {
_control_status.flags.baro_hgt = false;
_control_status.flags.gps_hgt = true;
_control_status.flags.rng_hgt = false;