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EKF: Don't report terrain estimate invalid immediately when HAGL observations fail checks

This commit is contained in:
Paul Riseborough 2017-10-12 08:26:04 +11:00
parent 1119a9b0ac
commit 4db23b7b2e
1 changed files with 1 additions and 1 deletions
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2
EKF/terrain_estimator.cpp
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@ -159,7 +159,7 @@ void Ekf::fuseHagl()
bool Ekf::get_terrain_valid() bool Ekf::get_terrain_valid()
{ {
if (_terrain_initialised && _range_data_continuous && !_rng_stuck && if (_terrain_initialised && _range_data_continuous && !_rng_stuck &&
!_innov_check_fail_status.flags.reject_hagl) { (_time_last_imu - _time_last_hagl_fuse < 5E6)) {
return true; return true;
} else { } else {