Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF: Prevent position drift between arming and takeoff when using OF

This commit is contained in:
Paul Riseborough 2015-07-11 10:55:36 +10:00 committed by Randy Mackay
parent c33453fcf9
commit 610595bfb9
1 changed files with 1 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

1
libraries/AP_NavEKF/AP_NavEKF.cpp
View File

@ -1005,6 +1005,7 @@ void NavEKF::SelectFlowFusion()
flowRadXY[0] = 0.0f;
flowRadXY[1] = 0.0f;
omegaAcrossFlowTime.zero();
flowDataValid = true;
}
// If the flow measurements have been rejected for too long and we are relying on them, then revert to constant position mode
if ((flowSensorTimeout || flowFusionTimeout) && PV_AidingMode == AID_RELATIVE) {