From 68f1ae303649cdc79e9bec93d2569936c963e5d6 Mon Sep 17 00:00:00 2001 From: Andrew Tridgell Date: Sun, 20 Apr 2014 21:44:37 +1000 Subject: [PATCH] AP_NavEKF: fixed some matlab ! -> ~ typos Pair-Programmed-With: Paul Riseborough --- libraries/AP_NavEKF/AP_NavEKF.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp index de385be61b..0841e6eaf1 100644 --- a/libraries/AP_NavEKF/AP_NavEKF.cpp +++ b/libraries/AP_NavEKF/AP_NavEKF.cpp @@ -1580,7 +1580,7 @@ void NavEKF::FuseVelPosNED() else gpsRetryTime = _gpsRetryTimeNoTAS; // form the observation vector and zero velocity and horizontal position observations if in static mode - if (~staticMode) { + if (!staticMode) { for (uint8_t i=0; i<=2; i++) observation[i] = velNED[i]; for (uint8_t i=3; i<=4; i++) observation[i] = posNE[i-3]; } else { @@ -1715,7 +1715,7 @@ void NavEKF::FuseVelPosNED() velFailTime = hal.scheduler->millis(); } // if data is not healthy and timed out and position is unhealthy we reset the velocity, but do not fuse data on this time step - else if (velTimeout && ~posHealth) { + else if (velTimeout && !posHealth) { ResetVelocity(); StoreStatesReset(); fuseVelData = false;