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AP_VisualOdom: clamp vel_err to VEL_M_NSE minimum

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chobits tai
2026-03-20 09:34:53 +11:00
committed by Peter Barker
parent 0ea404971f
commit c63c51ea3d
1 changed files with 1 additions and 1 deletions
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libraries/AP_VisualOdom/AP_VisualOdom_MAV.cpp
+1 -1
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@@ -76,7 +76,7 @@ void AP_VisualOdom_MAV::handle_vision_speed_estimate(uint64_t remote_time_us, ui
// send velocity to EKF if quality OK
bool consume = (_quality >= _frontend.get_quality_min());
if (consume) {
vel_err = constrain_float(vel_err, _frontend.get_vel_noise(), 5.0f);
vel_err = fmaxf(vel_err, _frontend.get_vel_noise());
AP::ahrs().writeExtNavVelData(vel, vel_err, time_ms, _frontend.get_delay_ms());
}