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AP_NavEKF : reduce minimum accepted flow quality

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priseborough 2014-08-20 20:07:16 +10:00 committed by Andrew Tridgell
parent 3fbedc9f98
commit 2a1420171a
1 changed files with 1 additions and 1 deletions
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libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -3911,7 +3911,7 @@ void NavEKF::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRates, V
// This filter uses a different definition of optical flow rates to the sensor with a positive optical flow rate produced by a
// negative rotation about that axis. For example a positive rotation of the flight vehicle about its X (roll) axis would produce a negative X flow rate
flowMeaTime_ms = msecFlowMeas;
if (rawFlowQuality > 150){
if (rawFlowQuality > 100){
flowQuality = rawFlowQuality;
// recall vehicle states at mid sample time for flow observations allowing for delays
RecallStates(statesAtFlowTime, flowMeaTime_ms - _msecFLowDelay - flowTimeDeltaAvg_ms/2);