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Copter: do not speed up EKF failsafe if optflow works

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chobits 2019-10-03 14:15:01 +08:00 committed by Andrew Tridgell
parent 59f2b42bd9
commit 491ac8f1a7
1 changed files with 1 additions and 1 deletions
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2
ArduCopter/ekf_check.cpp
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@ -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++;