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NavEKF: check baro health before consuming

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This commit is contained in:
Randy Mackay 2015-08-12 14:59:58 -07:00
parent 79efad339f
commit 8b17d32994
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -4269,7 +4269,7 @@ void NavEKF::readGpsData()
void NavEKF::readHgtData() void NavEKF::readHgtData()
{ {
// check to see if baro measurement has changed so we know if a new measurement has arrived // check to see if baro measurement has changed so we know if a new measurement has arrived
if (_baro.get_last_update() != lastHgtMeasTime) { if (_baro.healthy() && _baro.get_last_update() != lastHgtMeasTime) {
// Don't use Baro height if operating in optical flow mode as we use range finder instead // Don't use Baro height if operating in optical flow mode as we use range finder instead
if (_fusionModeGPS == 3 && _altSource == 1) { if (_fusionModeGPS == 3 && _altSource == 1) {
if ((imuSampleTime_ms - rngValidMeaTime_ms) < 2000) { if ((imuSampleTime_ms - rngValidMeaTime_ms) < 2000) {