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AP_NavEKF3: Fix bug in loss of aiding fallback

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Fixes a bug introduced by the introduction of range beacon fusion to the fallback test.
This commit is contained in:
priseborough 2016-12-21 16:35:37 +11:00 committed by Andrew Tridgell
parent 6dc7d25fde
commit 71eb46dd04
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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@ -213,17 +213,17 @@ void NavEKF3_core::setAidingMode()
uint16_t minTestTime_ms = MIN(frontend->tiltDriftTimeMax_ms, MIN(frontend->posRetryTimeNoVel_ms,frontend->posRetryTimeUseVel_ms));
// Check if optical flow data is being used
bool optFlowUsed = (imuSampleTime_ms - prevFlowFuseTime_ms > minTestTime_ms);
bool optFlowUsed = (imuSampleTime_ms - prevFlowFuseTime_ms <= minTestTime_ms);
// Check if airspeed data is being used
bool airSpdUsed = (imuSampleTime_ms - lastTasPassTime_ms > minTestTime_ms);
bool airSpdUsed = (imuSampleTime_ms - lastTasPassTime_ms <= minTestTime_ms);
// Check if range beacon data is being used
bool rngBcnUsed = (imuSampleTime_ms - lastRngBcnPassTime_ms > minTestTime_ms);
bool rngBcnUsed = (imuSampleTime_ms - lastRngBcnPassTime_ms <= minTestTime_ms);
// Check if GPS is being used
bool gpsPosUsed = (imuSampleTime_ms - lastPosPassTime_ms > minTestTime_ms);
bool gpsVelUsed = (imuSampleTime_ms - lastVelPassTime_ms > minTestTime_ms);
bool gpsPosUsed = (imuSampleTime_ms - lastPosPassTime_ms <= minTestTime_ms);
bool gpsVelUsed = (imuSampleTime_ms - lastVelPassTime_ms <= minTestTime_ms);
// Check if attitude drift has been constrained by a measurement source
bool attAiding = gpsPosUsed || gpsVelUsed || optFlowUsed || airSpdUsed || rngBcnUsed;