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AP_NavEKF2: Add missing fallback to baro for range beacon use case

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Paul Riseborough 2020-05-16 11:45:15 +10:00 committed by Randy Mackay
parent 344d621a08
commit fc18ee91df
1 changed files with 2 additions and 1 deletions
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3
libraries/AP_NavEKF2/AP_NavEKF2_PosVelFusion.cpp
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@ -1035,7 +1035,8 @@ if (extNavUsedForPos) {
bool lostRngHgt = ((activeHgtSource == HGT_SOURCE_RNG) && ((imuSampleTime_ms - rngValidMeaTime_ms) > 500));
bool lostGpsHgt = ((activeHgtSource == HGT_SOURCE_GPS) && ((imuSampleTime_ms - lastTimeGpsReceived_ms) > 2000));
bool lostExtNavHgt = ((activeHgtSource == HGT_SOURCE_EXTNAV) && ((imuSampleTime_ms - extNavMeasTime_ms) > 2000));
if (lostRngHgt || lostGpsHgt || lostExtNavHgt) {
bool lostRngBcnHgt = ((activeHgtSource == HGT_SOURCE_BCN) && ((imuSampleTime_ms - rngBcnDataDelayed.time_ms) > 2000));
if (lostRngHgt || lostGpsHgt || lostExtNavHgt || lostRngBcnHgt) {
activeHgtSource = HGT_SOURCE_BARO;
}