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AP_NavEKF3: Fix timer wrapping bug

This commit is contained in:
Paul Riseborough 2020-04-21 10:33:06 +10:00 committed by Andrew Tridgell
parent 0d965d2a1c
commit 53df8a0238
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3_Control.cpp
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@ -620,7 +620,7 @@ void NavEKF3_core::runYawEstimator()
} }
// action an external reset request // action an external reset request
if (EKFGSF_yaw_reset_request_ms > 0 && imuSampleTime_ms < (EKFGSF_yaw_reset_request_ms + YAW_RESET_TO_GSF_TIMEOUT_MS)) { if (EKFGSF_yaw_reset_request_ms > 0 && imuSampleTime_ms - EKFGSF_yaw_reset_request_ms < YAW_RESET_TO_GSF_TIMEOUT_MS) {
EKFGSF_resetMainFilterYaw(); EKFGSF_resetMainFilterYaw();
} }
} }