diff options
Diffstat (limited to 'src')
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp | 2 |
1 files changed, 1 insertions, 1 deletions
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp index 6bbc26a65..cd7c56b87 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_main.cpp @@ -457,7 +457,7 @@ const unsigned int loop_interval_alarm = 6500; // loop interval in microseconds orb_copy(ORB_ID(vision_position_estimate), vision_sub, &vision); } - if (vision.timestamp_boot > 0 && (hrt_elapsed_time(&vision.timestamp_boot) < 500000) && gps.eph > 3.0f) { + if (vision.timestamp_boot > 0 && (hrt_elapsed_time(&vision.timestamp_boot) < 500000)) { math::Quaternion q(vision.q); math::Matrix<3, 3> R = q.to_dcm(); |