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EKF: Fix bug causing simultaneous range and baro height fusion #429

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May 3, 2018
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EKF: Fix bug causing simultaneous range and baro height fusion #429

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6 changes: 2 additions & 4 deletions EKF/control.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -836,8 +836,7 @@ void Ekf::controlHeightFusion()
}
}

} else if (_baro_data_ready && !_baro_hgt_faulty &&
!(_in_range_aid_mode && !_range_data_ready && !_rng_hgt_faulty)) {
} else if (!_in_range_aid_mode && _baro_data_ready && !_baro_hgt_faulty) {
setControlBaroHeight();
_fuse_height = true;
_in_range_aid_mode = false;
Expand Down Expand Up @@ -920,8 +919,7 @@ void Ekf::controlHeightFusion()
}
}

} else if (_gps_data_ready && !_gps_hgt_faulty &&
!(_in_range_aid_mode && !_range_data_ready && !_rng_hgt_faulty)) {
} else if (!_in_range_aid_mode && _gps_data_ready && !_gps_hgt_faulty) {
setControlGPSHeight();
_fuse_height = true;
_in_range_aid_mode = false;
Expand Down