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AP_AHRS: Fix bug preventing EKF from initialising

This commit is contained in:
Paul Riseborough 2015-04-07 16:37:50 +10:00 committed by Randy Mackay
parent d618c55e2f
commit ff9917d338
1 changed files with 2 additions and 3 deletions
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5
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -81,9 +81,8 @@ void AP_AHRS_NavEKF::update(void)
if (start_time_ms == 0) { if (start_time_ms == 0) {
start_time_ms = hal.scheduler->millis(); start_time_ms = hal.scheduler->millis();
} }
if (hal.scheduler->millis() - start_time_ms > startup_delay_ms && if (hal.scheduler->millis() - start_time_ms > startup_delay_ms) {
EKF.InitialiseFilterDynamic()) { ekf_started = EKF.InitialiseFilterDynamic();
ekf_started = true;
} }
} }
if (ekf_started) { if (ekf_started) {