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commander: global position validity respect local position xy_valid

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Daniel Agar
2020-12-10 09:33:15 -05:00
parent ef6209ba03
commit 5cd4a9c73f
1 changed files with 1 additions and 1 deletions
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src/modules/commander/Commander.cpp
+1 -1
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@@ -4077,7 +4077,7 @@ void Commander::estimator_check()
} else { } else {
if (!_skip_pos_accuracy_check) { if (!_skip_pos_accuracy_check) {
// use global position message to determine validity // use global position message to determine validity
check_posvel_validity(true, gpos.eph, _eph_threshold_adj, gpos.timestamp, &_last_gpos_fail_time_us, check_posvel_validity(lpos.xy_valid, gpos.eph, _eph_threshold_adj, gpos.timestamp, &_last_gpos_fail_time_us,
&_gpos_probation_time_us, &_status_flags.condition_global_position_valid, &_status_changed); &_gpos_probation_time_us, &_status_flags.condition_global_position_valid, &_status_changed);
} }