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added rng_stuck to filter control status flags (#392)

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Carl Olsson
2018-03-21 11:46:27 +11:00
committed by Paul Riseborough
parent 7964820412
commit f6d23cc621
4 changed files with 5 additions and 5 deletions
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EKF/terrain_estimator.cpp
+2 -2
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@@ -93,7 +93,7 @@ void Ekf::runTerrainEstimator()
_terrain_var = math::constrain(_terrain_var, 0.0f, 1e4f);
// Fuse range finder data if available
if (_range_data_ready && !_rng_stuck) {
if (_range_data_ready && !_control_status.flags.rng_stuck) {
fuseHagl();
// update range sensor angle parameters in case they have changed
@@ -158,7 +158,7 @@ void Ekf::fuseHagl()
// return true if the terrain estimate is valid
bool Ekf::get_terrain_valid()
{
if (_terrain_initialised && _range_data_continuous && !_rng_stuck &&
if (_terrain_initialised && _range_data_continuous && !_control_status.flags.rng_stuck &&
(_time_last_imu - _time_last_hagl_fuse < (uint64_t)5e6)) {
return true;