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ekf2: fix if else logic

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Signed-off-by: Roman <bapstr@ethz.ch>
This commit is contained in:
Roman
2016-06-23 09:08:08 +02:00
parent 6f6ae78cf2
commit 27e61127a8
1 changed files with 2 additions and 2 deletions
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src/modules/ekf2/ekf2_main.cpp
+2 -2
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@@ -672,8 +672,8 @@ void Ekf2::task_main()
ctrl_state.airspeed = airspeed.indicated_airspeed_m_s; ctrl_state.airspeed = airspeed.indicated_airspeed_m_s;
ctrl_state.airspeed_valid = true; ctrl_state.airspeed_valid = true;
} }
}
if (_airspeed_mode.get() == control_state_s::AIRSPD_MODE_EST) { } else if (_airspeed_mode.get() == control_state_s::AIRSPD_MODE_EST) {
if (_ekf.local_position_is_valid()) { if (_ekf.local_position_is_valid()) {
ctrl_state.airspeed = sqrtf(vel[0] * vel[0] + vel[1] * vel[1] + vel[2] * vel[2]); ctrl_state.airspeed = sqrtf(vel[0] * vel[0] + vel[1] * vel[1] + vel[2] * vel[2]);
ctrl_state.airspeed_valid = true; ctrl_state.airspeed_valid = true;