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Copter: correct compilation when optical flow is disabled

This commit is contained in:
Peter Barker 2019-10-31 16:25:09 +11:00 committed by Peter Barker
parent 9605639070
commit d652bd4455
1 changed files with 5 additions and 1 deletions
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6
ArduCopter/ekf_check.cpp
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@ -110,7 +110,11 @@ bool Copter::ekf_over_threshold()
if (mag_variance.length() >= g.fs_ekf_thresh) {
over_thresh_count++;
}
if (!optflow.healthy() && (vel_variance >= (2.0f * g.fs_ekf_thresh))) {
bool optflow_healthy = false;
#if OPTFLOW == ENABLED
optflow_healthy = optflow.healthy();
#endif
if (!optflow_healthy && (vel_variance >= (2.0f * g.fs_ekf_thresh))) {
over_thresh_count += 2;
} else if (vel_variance >= g.fs_ekf_thresh) {
over_thresh_count++;