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AP_NavEKF: Fix bug in optical flow fusion control logic

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priseborough 2015-01-07 22:56:25 +11:00 committed by Andrew Tridgell
parent d656c94bbc
commit b0c703e4f7
1 changed files with 3 additions and 2 deletions
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5
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -951,8 +951,9 @@ void NavEKF::SelectFlowFusion()
EstimateTerrainOffset();
// Indicate we have used the range data
newDataRng = false;
// we don't do subsequent fusion of optical flow data into the main filter if GPS is good or terrain offset data is invalid
if (!gpsNotAvailable || !gndOffsetValid) {
// we don't do subsequent fusion of optical flow data into the main filter if GPS is good and terrain offset data is invalid
// because an invalid height above ground estimate will casue the optical flow measurements to fight the GPS
if (!gpsNotAvailable && !gndOffsetValid) {
// turn of fusion permissions
// reset the measurement axis index
flow_state.obsIndex = 0;