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ekf2: return validity based on dead-reckoning time only

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bresch
2024-08-19 10:29:01 +02:00
committed by Mathieu Bresciani
parent cf941b18df
commit 64b0586dad
1 changed files with 3 additions and 3 deletions
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src/modules/ekf2/EKF/ekf.h
+3 -3
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@@ -294,17 +294,17 @@ public:
// return true if the local position estimate is valid
bool local_position_is_valid() const
{
return (!_horizontal_deadreckon_time_exceeded && !_control_status.flags.fake_pos);
return !_horizontal_deadreckon_time_exceeded;
}
bool isLocalVerticalPositionValid() const
{
return !_vertical_position_deadreckon_time_exceeded && !_control_status.flags.fake_hgt;
return !_vertical_position_deadreckon_time_exceeded;
}
bool isLocalVerticalVelocityValid() const
{
return !_vertical_velocity_deadreckon_time_exceeded && !_control_status.flags.fake_hgt;
return !_vertical_velocity_deadreckon_time_exceeded;
}
bool isYawFinalAlignComplete() const