valid check now includes allowed use of mgm4

2023-08-21 14:33:55 +02:00 · 2023-08-21 14:33:55 +02:00 · b9167c7e22
commit b9167c7e22
parent b97afc9f1c
1 changed files with 2 additions and 1 deletions
--- a/mission/controller/acs/SensorProcessing.cpp
+++ b/mission/controller/acs/SensorProcessing.cpp
@ -25,7 +25,8 @@ void SensorProcessing::processMgm(const float *mgm0Value, bool mgm0valid, const
                        gpsDataProcessed->altitude.value, timeOfMgmMeasurement, magIgrfModel);
    gpsValid = true;
  }
-  if (!mgm0valid && !mgm1valid && !mgm2valid && !mgm3valid && !mgm4valid) {
+  if (not mgm0valid and not mgm1valid and not mgm2valid and not mgm3valid and
+      (not mgm4valid or not mgmParameters->useMgm4)) {
    {
      PoolReadGuard pg(mgmDataProcessed);
      if (pg.getReadResult() == returnvalue::OK) {