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Copter: correct use of nanf

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This commit is contained in:
Peter Barker 2019-10-18 14:47:30 +11:00 committed by Andrew Tridgell
parent b437daf2b7
commit 1d278741cc
1 changed files with 1 additions and 2 deletions
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3
ArduCopter/ekf_check.cpp
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@ -231,10 +231,9 @@ void Copter::check_vibration()
if (!ahrs.get_variances(vel_variance, position_variance, height_variance, mag_variance, tas_variance, offset)) {
checks_succeeded = false;
}
const bool var_vel_hgt_high = (vel_variance >= 1.0f);
// if no failure
if ((g2.fs_vibe_enabled == 0) || !checks_succeeded || !motors->armed() || !innov_velD_posD_positive || !var_vel_hgt_high) {
if ((g2.fs_vibe_enabled == 0) || !checks_succeeded || !motors->armed() || !innov_velD_posD_positive || (vel_variance < 1.0f)) {
if (vibration_check.high_vibes) {
// start clear time
if (vibration_check.clear_ms == 0) {