From 703fb4e31b636dcf32efa4c750cacbfd9824afdb Mon Sep 17 00:00:00 2001 From: Roman Date: Wed, 8 Jun 2016 07:51:18 +0200 Subject: [PATCH] do not return early in velocity reset method otherwise some code will not be executed --- EKF/ekf_helper.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp index 404f6f71a8..100eaebf35 100644 --- a/EKF/ekf_helper.cpp +++ b/EKF/ekf_helper.cpp @@ -61,7 +61,6 @@ bool Ekf::resetVelocity() if (_time_last_imu - gps_newest.time_us < 2*GPS_MAX_INTERVAL) { _state.vel = gps_newest.vel; - return true; } else { // XXX use the value of the last known velocity @@ -69,7 +68,7 @@ bool Ekf::resetVelocity() } } else if (_control_status.flags.opt_flow || _control_status.flags.ev_pos) { _state.vel.setZero(); - return true; + } else { return false; } @@ -91,6 +90,7 @@ bool Ekf::resetVelocity() _state_reset_status.velNE_counter++; _state_reset_status.velD_counter++; + return true; } // Reset position states. If we have a recent and valid