Mirror/betaflight
1
0
Fork 0
mirror of https://github.com/betaflight/betaflight.git synced 2025-07-17 21:35:44 +03:00
Code Issues Wiki Activity

Correct nested if else for USE_MAG and USE_GPS (#5414)

Browse source 
If USE_MAG was undefined but USE_GPS was defined, then the "else if" would incorrectly apply to a condition above making the USE_GPS section unlikely to execute.
This commit is contained in:
etracer65 2018-03-07 15:48:22 -05:00 • committed by Michael Keller
parent 0430fcb67d
commit 18b857de65
1 changed files with 1 additions and 1 deletions
Download patch file Download diff file Expand all files Collapse all files

2
src/main/flight/imu.c
View file

@ -428,7 +428,7 @@ static void imuCalculateEstimatedAttitude(timeUs_t currentTimeUs)
}
#endif
#if defined(USE_GPS)
else if (STATE(FIXED_WING) && sensors(SENSOR_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 5 && gpsSol.groundSpeed >= 300) {
if (!useMag && STATE(FIXED_WING) && sensors(SENSOR_GPS) && STATE(GPS_FIX) && gpsSol.numSat >= 5 && gpsSol.groundSpeed >= 300) {
// In case of a fixed-wing aircraft we can use GPS course over ground to correct heading
rawYawError = DECIDEGREES_TO_RADIANS(attitude.values.yaw - gpsSol.groundCourse);
useYaw = true;