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EKF3: RNG_USE_HGT param only used when ALT_SOURCE = rangefinder

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Randy Mackay 2019-09-10 10:14:49 +09:00 committed by Andrew Tridgell
parent 94a52b3525
commit 0e1a2efb7c
1 changed files with 1 additions and 1 deletions
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libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
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@ -793,7 +793,7 @@ void NavEKF3_core::selectHeightForFusion()
baroDataToFuse = storedBaro.recall(baroDataDelayed, imuDataDelayed.time_ms);
// select height source
if (((frontend->_useRngSwHgt > 0) || (frontend->_altSource == 1)) && (imuSampleTime_ms - rngValidMeaTime_ms < 500)) {
if (((frontend->_useRngSwHgt > 0) && (frontend->_altSource == 1)) && (imuSampleTime_ms - rngValidMeaTime_ms < 500)) {
if (frontend->_altSource == 1) {
// always use range finder
activeHgtSource = HGT_SOURCE_RNG;