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AP_NavEKF2: only report terrain estimator innovations with valid rng value

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Pierre Kancir 2017-12-14 00:01:53 +01:00 committed by Francisco Ferreira
parent 2732226664
commit 171e80d8dc
1 changed files with 1 additions and 1 deletions
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libraries/AP_NavEKF2/AP_NavEKF2_Outputs.cpp
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@ -579,7 +579,7 @@ void NavEKF2_core::send_status_report(mavlink_channel_t chan)
// height estimation or optical flow operation. This prevents false alarms at the GCS if a
// range finder is fitted for other applications
float temp;
if ((frontend->_useRngSwHgt > 0) || PV_AidingMode == AID_RELATIVE || flowDataValid) {
if (((frontend->_useRngSwHgt > 0) && activeHgtSource == HGT_SOURCE_RNG) || (PV_AidingMode == AID_RELATIVE && flowDataValid)) {
temp = sqrtf(auxRngTestRatio);
} else {
temp = 0.0f;