EKF3: RNG_USE_HGT param only used when ALT_SOURCE = rangefinder

5 years ago · 0e1a2efb7c
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
+++ b/libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
@ -793,7 +793,7 @@ void NavEKF3_core::selectHeightForFusion()
				@@ -793,7 +793,7 @@ void NavEKF3_core::selectHeightForFusion()
    baroDataToFuse = storedBaro.recall(baroDataDelayed, imuDataDelayed.time_ms);

    // select height source
-    if (((frontend->_useRngSwHgt > 0) || (frontend->_altSource == 1)) && (imuSampleTime_ms - rngValidMeaTime_ms < 500)) {
+    if (((frontend->_useRngSwHgt > 0) && (frontend->_altSource == 1)) && (imuSampleTime_ms - rngValidMeaTime_ms < 500)) {
        if (frontend->_altSource == 1) {
            // always use range finder
            activeHgtSource = HGT_SOURCE_RNG;