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AP_NavEKF3: fix using_external_yaw when using external nav

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the first if would always return true meaning the method would always return false when using external nav
thanks to David Sastre for finding this!
This commit is contained in:
Randy Mackay 2021-01-25 19:51:52 +09:00 committed by Andrew Tridgell
parent 86fda93781
commit 1814524fcb
1 changed files with 5 additions and 5 deletions
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10
libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
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@ -537,16 +537,16 @@ bool NavEKF3_core::use_compass(void) const
// are we using a yaw source other than the magnetomer?
bool NavEKF3_core::using_external_yaw(void) const
{
#if EK3_FEATURE_EXTERNAL_NAV
const AP_NavEKF_Source::SourceYaw yaw_source = frontend->sources.getYawSource();
if (yaw_source == AP_NavEKF_Source::SourceYaw::GPS || yaw_source == AP_NavEKF_Source::SourceYaw::GPS_COMPASS_FALLBACK ||
yaw_source == AP_NavEKF_Source::SourceYaw::GSF || !use_compass()) {
return imuSampleTime_ms - last_gps_yaw_fusion_ms < 5000 || imuSampleTime_ms - lastSynthYawTime_ms < 5000;
}
#if EK3_FEATURE_EXTERNAL_NAV
if (yaw_source == AP_NavEKF_Source::SourceYaw::EXTNAV) {
return ((imuSampleTime_ms - last_extnav_yaw_fusion_ms < 5000) || (imuSampleTime_ms - lastSynthYawTime_ms < 5000));
}
#endif
if (yaw_source == AP_NavEKF_Source::SourceYaw::GPS || yaw_source == AP_NavEKF_Source::SourceYaw::GPS_COMPASS_FALLBACK ||
yaw_source == AP_NavEKF_Source::SourceYaw::GSF || !use_compass()) {
return imuSampleTime_ms - last_gps_yaw_fusion_ms < 5000 || imuSampleTime_ms - lastSynthYawTime_ms < 5000;
}
return false;
}