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AP_NavEKF3: fixed use of configured() vs configured_in_storage()

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This commit is contained in:
Andrew Tridgell 2022-05-12 08:04:36 +10:00 committed by Peter Barker
parent aafec1fbe7
commit d5670ace3b
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -1609,7 +1609,7 @@ void NavEKF3::writeWheelOdom(float delAng, float delTime, uint32_t timeStamp_ms,
void NavEKF3::convert_parameters()
{
// exit immediately if param conversion has been done before
if (sources.configured_in_storage()) {
if (sources.configured()) {
return;
}
@ -1646,12 +1646,12 @@ void NavEKF3::convert_parameters()
case 3:
default:
// EK3_GPS_TYPE == 3 (No GPS) we don't know what to do, could be optical flow, beacon or external nav
sources.mark_configured_in_storage();
sources.mark_configured();
break;
}
} else {
// mark configured in storage so conversion is only run once
sources.mark_configured_in_storage();
sources.mark_configured();
}
// use EK3_ALT_SOURCE to set EK3_SRC1_POSZ