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AP_NavEKF : Fix bug affecting sonar fusion

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priseborough 2014-10-16 17:28:00 +11:00 committed by Andrew Tridgell
parent 117bd2a998
commit 1222559da0
1 changed files with 1 additions and 0 deletions
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1
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -3996,6 +3996,7 @@ void NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, V
} }
// Use range finder if 3 or more consecutive good samples. This reduces likelihood of using bad data. // Use range finder if 3 or more consecutive good samples. This reduces likelihood of using bad data.
if (rangeHealth >= 3) { if (rangeHealth >= 3) {
statesAtRngTime = statesAtFlowTime;
rngMea = rawSonarRange; rngMea = rawSonarRange;
newDataRng = true; newDataRng = true;
} else { } else {