AP_NavEKF: Remove bug preventing external selection of optical flow mode

10 years ago · cb59570938
1 changed files with 1 additions and 1 deletions
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@ -3700,11 +3700,11 @@ uint8_t NavEKF::setInhibitGPS(void)
				@@ -3700,11 +3700,11 @@ uint8_t NavEKF::setInhibitGPS(void)
        return 0;
    }
    if (optFlowDataPresent()) {
+        _fusionModeGPS = 3;
        return 2;
    } else {
        return 1;
    }
-    _fusionModeGPS = 3;
 }

 // return the horizontal speed limit in m/s set by optical flow sensor limits