AP_NavEKF2: use set_and_defualt when changing imu mask

2024-03-24 15:42:57 +00:00 · 2024-03-24 15:42:57 +00:00 · b95b51f1a1
parent 6fc8185716
commit b95b51f1a1
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp
@ -643,7 +643,7 @@ bool NavEKF2::InitialiseFilter(void)

        // don't allow more filters than IMUs
        uint8_t mask = (1U<<ins.get_accel_count())-1;
-        _imuMask.set(_imuMask.get() & mask);
+        _imuMask.set_and_default(_imuMask.get() & mask);
        
        // count IMUs from mask
        num_cores = __builtin_popcount(_imuMask);