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EKF: Use isRecent function

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This commit is contained in:
Paul Riseborough
2020-06-30 18:55:30 +10:00
committed by Paul Riseborough
parent e948b3505f
commit 9aa8d93efc
1 changed files with 2 additions and 2 deletions
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EKF/control.cpp
+2 -2
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@@ -898,8 +898,8 @@ void Ekf::checkVerticalAccelerationHealth()
// Don't use stale innovation data.
bool is_inertial_nav_falling = false;
bool are_vertical_pos_and_vel_independant = false;
if (_time_last_imu < _vert_pos_fuse_time_us + 1000000) {
if (_time_last_imu < _vert_vel_fuse_time_us + 1000000) {
if (isRecent(_vert_pos_fuse_time_us, 1000000)) {
if (isRecent(_vert_vel_fuse_time_us, 1000000)) {
// If vertical position and velocity come from independent sensors then we can
// trust them more if they disagree with the IMU, but need to check that they agree
const bool using_gps_for_both = _control_status.flags.gps_hgt && _control_status.flags.gps;