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ekf2: optical flow update last hor vel timestamp on success

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Daniel Agar
2024-07-05 12:43:35 -04:00
parent 691fdf713c
commit f8f8ddc101
1 changed files with 2 additions and 0 deletions
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src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_fusion.cpp
+2
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@@ -99,6 +99,8 @@ bool Ekf::fuseOptFlow(VectorState &H, const bool update_terrain)
_aid_src_optical_flow.time_last_fuse = _time_delayed_us; _aid_src_optical_flow.time_last_fuse = _time_delayed_us;
_aid_src_optical_flow.fused = true; _aid_src_optical_flow.fused = true;
_time_last_hor_vel_fuse = _time_delayed_us;
if (update_terrain) { if (update_terrain) {
_time_last_terrain_fuse = _time_delayed_us; _time_last_terrain_fuse = _time_delayed_us;
} }