AP_NavEKF: Fix bug in median filter code

8 years ago · d0ba259d0d
1 changed files with 2 additions and 2 deletions
--- a/libraries/AP_NavEKF/AP_NavEKF_core.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF_core.cpp
@ -5137,8 +5137,8 @@ void NavEKF_core::readRangeFinder(void)
				@@ -5137,8 +5137,8 @@ void NavEKF_core::readRangeFinder(void)
                minIndex = 1;
                maxIndex = 0;
            } else {
-                maxIndex = 0;
-                minIndex = 1;
+                minIndex = 0;
+                maxIndex = 1;
            }
            if (storedRngMeas[2] > storedRngMeas[maxIndex]) {
                midIndex = maxIndex;