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EKF: enable optical flow use to bootstrap

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Paul Riseborough
2018-09-01 21:10:57 +10:00
committed by Lorenz Meier
parent 3c74dc2ce1
commit b861594d0b
1 changed files with 1 additions and 3 deletions
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EKF/estimator_interface.cpp
+1 -3
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@@ -369,9 +369,7 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl
flow_magnitude_good = (flow_rate_magnitude <= _flow_max_rate); flow_magnitude_good = (flow_rate_magnitude <= _flow_max_rate);
} }
bool relying_on_flow = _control_status.flags.opt_flow bool relying_on_flow = !_control_status.flags.gps && !_control_status.flags.ev_pos;
&& !_control_status.flags.gps
&& !_control_status.flags.ev_pos;
// check quality metric // check quality metric
bool flow_quality_good = (flow->quality >= _params.flow_qual_min); bool flow_quality_good = (flow->quality >= _params.flow_qual_min);