From 16972c736994fa49b04d1e967516278660e4be2d Mon Sep 17 00:00:00 2001
From: Martin Miller
Date: Mon, 10 Apr 2017 00:13:10 -0500
Subject: Fix switch case fallthrough bug

---
 src/state.cpp  | 1 +
 src/vision.cpp | 2 +-
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/src/state.cpp b/src/state.cpp
index 32801f8..055a3d1 100644
--- a/src/state.cpp
+++ b/src/state.cpp
@@ -105,6 +105,7 @@ State::H ( const Quaterniond &q, const vector<measurement_t> &z )
                 h.block<4,STATESIZE>(row,0) = fi->Hx(pos,q).block<4,STATESIZE>(2,0);
                 h.block<4,3>(row,col) = fi->Hy(pos,q).block<4,3>(2,0);
                 row += 4;
+                break;
 
             case HEIGHT:	
                 h.block<1,STATESIZE>(row,0) = body->H();
diff --git a/src/vision.cpp b/src/vision.cpp
index 4d4ba2e..2b190c0 100644
--- a/src/vision.cpp
+++ b/src/vision.cpp
@@ -200,7 +200,7 @@ Vision::measurements ( const Camera &cam, const vector<measurement_t> &zin,
                 }
             }
         }
-        z.z_type = BOTH;
+        z.z_type = mt;
         zout.push_back(z);
     }
     return ;
-- 
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