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AP_NavEKF: Relax timeout check applied to optical flow data

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200 msec was too short and could lead to false positives. 5000 msec is the largest time we can go free inertial.
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priseborough 2014-12-21 15:13:07 +11:00 committed by Randy Mackay
parent 5bd4ee9715
commit a0a6c0362f
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -4418,7 +4418,7 @@ bool NavEKF::useRngFinder(void) const
// return true if optical flow data is available
bool NavEKF::optFlowDataPresent(void) const
{
if (imuSampleTime_ms - flowMeaTime_ms < 200) {
if (imuSampleTime_ms - flowMeaTime_ms < 5000) {
return true;
} else {
return false;