mirror of https://github.com/ArduPilot/ardupilot
AP_NavEKF2: fixed segfault when IMU mask covers more IMUs than GSF mask
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@ -397,7 +397,7 @@ void NavEKF2_core::detectFlight()
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if (!prevOnGround && onGround) {
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// landed so disable filter bank
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EKFGSF_run_filterbank = false;
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} else if (!prevInFlight && inFlight) {
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} else if (yawEstimator != nullptr && !prevInFlight && inFlight) {
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// started flying so reset counters and enable filter bank
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EKFGSF_yaw_reset_ms = 0;
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EKFGSF_yaw_reset_request_ms = 0;
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