From a0a6c0362f62ee3f9e9d9928e7f4961b43029650 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Sun, 21 Dec 2014 15:13:07 +1100
Subject: [PATCH] AP_NavEKF: Relax timeout check applied to optical flow data

200 msec was too short and could lead to false positives. 5000 msec is the largest time we can go free inertial.
---
 libraries/AP_NavEKF/AP_NavEKF.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index e5f12d72a9..b5c1a719d7 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -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;