AP_NavEKF2: Fix bug in median filter code

8 years ago · 9779511425
1 changed files with 2 additions and 2 deletions
--- a/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
+++ b/libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
@ -60,8 +60,8 @@ void NavEKF2_core::readRangeFinder(void)
				@@ -60,8 +60,8 @@ void NavEKF2_core::readRangeFinder(void)
                    minIndex = 1;
                    maxIndex = 0;
                } else {
-                    maxIndex = 0;
-                    minIndex = 1;
+                    minIndex = 0;
+                    maxIndex = 1;
                }
                if (storedRngMeas[sensorIndex][2] > storedRngMeas[sensorIndex][maxIndex]) {
                    midIndex = maxIndex;