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ekf2: range, check if terrain valid for reset on fusion timeout

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This commit is contained in:
Daniel Agar
2024-06-27 18:28:42 -04:00
parent e52025cc20
commit c56f84fe8a
1 changed files with 1 additions and 1 deletions
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src/modules/ekf2/EKF/aid_sources/range_finder/range_height_control.cpp
+1 -1
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@@ -187,7 +187,7 @@ void Ekf::controlRangeHaglFusion()
} else if (is_fusion_failing) {
// Some other height source is still working
if (_hagl_sensor_status.flags.flow) {
if (_hagl_sensor_status.flags.flow && isTerrainEstimateValid()) {
ECL_WARN("stopping %s fusion, fusion failing", HGT_SRC_NAME);
stopRngHgtFusion();
stopRngTerrFusion();