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Fix bug in FW althold w/o GPS

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This commit is contained in:
Konstantin Sharlaimov (DigitalEntity) 2017-04-16 22:22:39 +10:00
parent 3f251830b3
commit 4a63f2268b
1 changed files with 1 additions and 2 deletions
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3
src/main/navigation/navigation_fixedwing.c
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@ -127,8 +127,7 @@ void applyFixedWingAltitudeController(timeUs_t currentTimeUs)
return; return;
} }
if (posControl.flags.hasValidPositionSensor) { if (posControl.flags.hasValidAltitudeSensor) {
// If we have an update on vertical position data - update velocity and accel targets
if (posControl.flags.verticalPositionDataNew) { if (posControl.flags.verticalPositionDataNew) {
const timeDelta_t deltaMicrosPositionUpdate = currentTimeUs - previousTimePositionUpdate; const timeDelta_t deltaMicrosPositionUpdate = currentTimeUs - previousTimePositionUpdate;
previousTimePositionUpdate = currentTimeUs; previousTimePositionUpdate = currentTimeUs;