From 7dd8e3f614d67a57e01ace5aa1c5d3cb37c21c2b Mon Sep 17 00:00:00 2001 From: Eric Katzfey Date: Wed, 19 Apr 2023 09:42:27 -0700 Subject: [PATCH] Removed the huge HAGL fuse timeout increase --- src/modules/ekf2/EKF/optical_flow_control.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/src/modules/ekf2/EKF/optical_flow_control.cpp b/src/modules/ekf2/EKF/optical_flow_control.cpp index 74e5593449..2503f70fc5 100644 --- a/src/modules/ekf2/EKF/optical_flow_control.cpp +++ b/src/modules/ekf2/EKF/optical_flow_control.cpp @@ -204,7 +204,7 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed) if (_time_delayed_us > (_flow_sample_delayed.time_us - uint32_t(1e6f * _flow_sample_delayed.dt) / 2)) { // Fuse optical flow LOS rate observations into the main filter only if height above ground has been updated recently // but use a relaxed time criteria to enable it to coast through bad range finder data - if (isRecent(_time_last_hagl_fuse, (uint64_t)100e6)) { + if (isRecent(_time_last_hagl_fuse, (uint64_t)10e6)) { fuseOptFlow(); _last_known_pos.xy() = _state.pos.xy(); }