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fixed str validity check
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This commit is contained in:
Marius Eggert 2023-06-05 09:37:01 +02:00
parent 7b38ee3ecc
commit 665739ba1e
1 changed files with 1 additions and 3 deletions
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4
mission/controller/acs/Navigation.cpp
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@ -19,9 +19,7 @@ ReturnValue_t Navigation::useMekf(ACS::SensorValues *sensorValues,
acsctrl::MekfData *mekfData, AcsParameters *acsParameters) {
double quatIB[4] = {sensorValues->strSet.caliQx.value, sensorValues->strSet.caliQy.value,
sensorValues->strSet.caliQz.value, sensorValues->strSet.caliQw.value};
bool quatIBValid = sensorValues->strSet.caliQx.isValid() &&
sensorValues->strSet.caliQy.isValid() &&
sensorValues->strSet.caliQz.isValid() && sensorValues->strSet.caliQw.isValid();
bool quatIBValid = sensorValues->strSet.isTrustWorthy.value;
if (mekfStatus == MultiplicativeKalmanFilter::MEKF_UNINITIALIZED) {
mekfStatus = multiplicativeKalmanFilter.init(