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AP_NavEKF : Don't update focal length scale factor at low speeds

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priseborough 2014-10-16 16:03:37 +11:00 committed by Andrew Tridgell
parent 8dd1081f54
commit b1d3d5d9a3
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -3674,8 +3674,8 @@ void NavEKF::SetFlightAndFusionModes()
} else { } else {
inhibitGndState = false; inhibitGndState = false;
} }
// Don't update focal length offset state if there is no range finder // Don't update focal length offset state if there is no range finder or flying at low velocity
if (!useRngFinder()) { if (!useRngFinder() || !highGndSpdStage2) {
fScaleInhibit = true; fScaleInhibit = true;
} else { } else {
fScaleInhibit = false; fScaleInhibit = false;