AP_GPS: correct check of reported antenna distance vs stated offset

ArduPilot · Feb 22, 2024 · eb3570f · eb3570f
1 parent 632bb71
commit eb3570f
Showing 1 changed file with 1 addition and 1 deletion.
diff --git a/libraries/AP_GPS/GPS_Backend.cpp b/libraries/AP_GPS/GPS_Backend.cpp
@@ -367,7 +367,7 @@ bool AP_GPS_Backend::calculate_moving_base_yaw(AP_GPS::GPS_State &interim_state,
         }
 
 
-        if ((offset_dist - reported_distance) > (min_dist * permitted_error_length_pct)) {
+        if (fabsf(offset_dist - reported_distance) > (min_dist * permitted_error_length_pct)) {
             // the magnitude of the vector is much further then we were expecting
             Debug("Exceeded the permitted error margin %f > %f",
                   (double)(offset_dist - reported_distance), (double)(min_dist * permitted_error_length_pct));