Merge pull request #161 from PX4/pr-resetFix

do not return early in velocity reset method
PX4 · Jun 8, 2016 · 16bdbeb · 16bdbeb
2 parents 928a7dd + 703fb4e
commit 16bdbeb
Showing 1 changed file with 2 additions and 2 deletions.
diff --git a/EKF/ekf_helper.cpp b/EKF/ekf_helper.cpp
@@ -61,15 +61,14 @@ bool Ekf::resetVelocity()
 
 		if (_time_last_imu - gps_newest.time_us < 2*GPS_MAX_INTERVAL) {
 			_state.vel = gps_newest.vel;
-			return true;
 
 		} else {
 			// XXX use the value of the last known velocity
 			return false;
 		}
 	} else if (_control_status.flags.opt_flow || _control_status.flags.ev_pos) {
 		_state.vel.setZero();
-		return true;
+
 	} else {
 		return false;
 	}
@@ -91,6 +90,7 @@ bool Ekf::resetVelocity()
 	_state_reset_status.velNE_counter++;
 	_state_reset_status.velD_counter++;
 
+	return true;
 }
 
 // Reset position states. If we have a recent and valid