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ekf2: fuse optical flow when magnetometer is disabled

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Co-authored-by: bresch <brescianimathieu@gmail.com>
This commit is contained in:
Oleg Kalachev
2022-01-20 18:43:46 +03:00
committed by Mathieu Bresciani
parent 82e88a9547
commit 2945ce7c87
1 changed files with 1 additions and 1 deletions
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src/modules/ekf2/EKF/control.cpp
+1 -1
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@@ -470,7 +470,7 @@ void Ekf::controlOpticalFlowFusion()
&& !_control_status.flags.opt_flow // we are not yet using flow data && !_control_status.flags.opt_flow // we are not yet using flow data
&& !_inhibit_flow_use) { && !_inhibit_flow_use) {
// If the heading is valid and use is not inhibited , start using optical flow aiding // If the heading is valid and use is not inhibited , start using optical flow aiding
if (_control_status.flags.yaw_align) { if (_control_status.flags.yaw_align || _params.mag_fusion_type == MAG_FUSE_TYPE_NONE) {
// set the flag and reset the fusion timeout // set the flag and reset the fusion timeout
_control_status.flags.opt_flow = true; _control_status.flags.opt_flow = true;
_time_last_of_fuse = _time_last_imu; _time_last_of_fuse = _time_last_imu;