From d0d49065e7d92e5481de1d8d4e4633d9743456e4 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Wed, 7 Jan 2015 22:58:29 +1100
Subject: [PATCH] AP_NavEKF: Prevent potential repeated use of optical flow
 data

---
 libraries/AP_NavEKF/AP_NavEKF.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 367805faee..fbf5890e7e 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -988,6 +988,8 @@ void NavEKF::SelectFlowFusion()
         FuseOptFlow();
         // Reset the measurement axis index to prevent further fusion of this data
         flow_state.obsIndex = 0;
+        // reset flag to indicate that no new flow data is available for fusion
+        newDataFlow = false;
         // indicate that flow fusion has been performed. This is used for load spreading.
         flowFusePerformed = true;
     }