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AP_NavEKF3: remove redundant extnav code

This commit is contained in:
chobits 2021-01-11 14:38:53 +08:00 committed by Randy Mackay
parent 3a264e0a76
commit e73d28fe19
1 changed files with 1 additions and 4 deletions
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5
libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
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@ -986,10 +986,7 @@ void NavEKF3_core::selectHeightForFusion()
bool rangeFinderDataIsFresh = (imuSampleTime_ms - rngValidMeaTime_ms < 500);
const bool extNavDataIsFresh = (imuSampleTime_ms - extNavMeasTime_ms < 500);
// select height source
if (extNavUsedForPos && (frontend->sources.getPosZSource() == AP_NavEKF_Source::SourceZ::EXTNAV)) {
// always use external navigation as the height source if using for position.
activeHgtSource = AP_NavEKF_Source::SourceZ::EXTNAV;
} else if ((frontend->sources.getPosZSource() == AP_NavEKF_Source::SourceZ::RANGEFINDER) && _rng && rangeFinderDataIsFresh) {
if ((frontend->sources.getPosZSource() == AP_NavEKF_Source::SourceZ::RANGEFINDER) && _rng && rangeFinderDataIsFresh) {
// user has specified the range finder as a primary height source
activeHgtSource = AP_NavEKF_Source::SourceZ::RANGEFINDER;
} else if ((frontend->_useRngSwHgt > 0) && ((frontend->sources.getPosZSource() == AP_NavEKF_Source::SourceZ::BARO) || (frontend->sources.getPosZSource() == AP_NavEKF_Source::SourceZ::GPS)) && _rng && rangeFinderDataIsFresh) {