Use helper function to switch to gps height

PX4 · Dec 11, 2019 · 88c4929 · 88c4929
1 parent 042d9b6
commit 88c4929
Showing 1 changed file with 1 addition and 3 deletions.
diff --git a/EKF/gps_checks.cpp b/EKF/gps_checks.cpp
@@ -92,9 +92,7 @@ bool Ekf::collect_gps(const gps_message &gps)
 		// if the user has selected GPS as the primary height source, switch across to using it
 		if (_params.vdist_sensor_type == VDIST_SENSOR_GPS) {
 			ECL_INFO_TIMESTAMPED("EKF GPS checks passed (WGS-84 origin set, using GPS height)");
-			_control_status.flags.baro_hgt = false;
-			_control_status.flags.gps_hgt = true;
-			_control_status.flags.rng_hgt = false;
+			setControlGPSHeight();
 			// zero the sensor offset
 			_hgt_sensor_offset = 0.0f;
 		} else {