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ekf2: optical flow fusion timeout only reset if quality is good

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Daniel Agar
2024-06-27 17:57:03 -04:00
parent 6be06ecbb3
commit e52025cc20
1 changed files with 1 additions and 1 deletions
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src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp
+1 -1
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@@ -142,7 +142,7 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
// handle the case when we have optical flow, are reliant on it, but have not been using it for an extended period // handle the case when we have optical flow, are reliant on it, but have not been using it for an extended period
if (isTimedOut(_aid_src_optical_flow.time_last_fuse, _params.no_aid_timeout_max)) { if (isTimedOut(_aid_src_optical_flow.time_last_fuse, _params.no_aid_timeout_max)) {
if (is_flow_required) { if (is_flow_required && is_quality_good) {
resetFlowFusion(); resetFlowFusion();
if (_hagl_sensor_status.flags.flow && !isTerrainEstimateValid()) { if (_hagl_sensor_status.flags.flow && !isTerrainEstimateValid()) {