set best sensor to -1 after last sensor fails

PX4 · Jul 22, 2024 · 530950e · 530950e
1 parent 36d89df
commit 530950e
Showing 1 changed file with 4 additions and 0 deletions.
diff --git a/src/modules/sensors/data_validator/DataValidatorGroup.cpp b/src/modules/sensors/data_validator/DataValidatorGroup.cpp
@@ -230,6 +230,10 @@ float *DataValidatorGroup::get_best(uint64_t timestamp, int *index)
 				if (_first_failover_time == 0) {
 					_first_failover_time = timestamp;
 				}
+
+				if (max_confidence < FLT_EPSILON) {
+					max_index = -1;
+				}
 			}
 		}