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AP_NavEKF: Prevent divide by zero casued by Tnb_flow.c.z = 0

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priseborough 2015-01-03 10:35:54 +11:00 committed by Andrew Tridgell
parent 1e3c23e5a3
commit 75201c8968
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -926,14 +926,14 @@ void NavEKF::SelectFlowFusion()
// update the time stamp
prevFlowFusionTime_ms = imuSampleTime_ms;
} else if (flowDataValid && flow_state.obsIndex == 1 && !delayFusion && !constPosMode){
} else if (flowDataValid && flow_state.obsIndex == 1 && !delayFusion && !constPosMode && tiltOK){
// Fuse the optical flow Y axis data into the main filter
FuseOptFlow();
// increment the index to fuse the X and Y data using the 2-state EKF on the next prediction cycle
flow_state.obsIndex = 2;
// indicate that flow fusion has been performed. This is used for load spreading.
flowFusePerformed = true;
} else if (((flowDataValid && flow_state.obsIndex == 2) || newDataRng) && !constPosMode) {
} else if (((flowDataValid && flow_state.obsIndex == 2) || newDataRng) && !constPosMode && tiltOK) {
// enable fusion of range data if available and permitted
if(newDataRng && useRngFinder()) {
fuseRngData = true;