From 491ac8f1a769321ef8b21e7f6c77badd19018876 Mon Sep 17 00:00:00 2001
From: chobits <chobits@itri.org.tw>
Date: Thu, 3 Oct 2019 14:15:01 +0800
Subject: [PATCH] Copter: do not speed up EKF failsafe if optflow works

---
 ArduCopter/ekf_check.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ArduCopter/ekf_check.cpp b/ArduCopter/ekf_check.cpp
index b53df9c767..8204a4f82d 100644
--- a/ArduCopter/ekf_check.cpp
+++ b/ArduCopter/ekf_check.cpp
@@ -110,7 +110,7 @@ bool Copter::ekf_over_threshold()
     if (mag_variance.length() >= g.fs_ekf_thresh) {
         over_thresh_count++;
     }
-    if (vel_variance >= (2.0f * g.fs_ekf_thresh)) {
+    if (!optflow.healthy() && (vel_variance >= (2.0f * g.fs_ekf_thresh))) {
         over_thresh_count += 2;
     } else if (vel_variance >= g.fs_ekf_thresh) {
         over_thresh_count++;