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ekf2: optical flow failing also reset terrain if needed

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This commit is contained in:
Daniel Agar
2024-06-27 17:54:35 -04:00
parent ea8f14b883
commit 6be06ecbb3
1 changed files with 4 additions and 0 deletions
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src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp
+4
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@@ -145,6 +145,10 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
if (is_flow_required) { if (is_flow_required) {
resetFlowFusion(); resetFlowFusion();
if (_hagl_sensor_status.flags.flow && !isTerrainEstimateValid()) {
resetTerrainToFlow();
}
} else { } else {
stopFlowFusion(); stopFlowFusion();
} }