dark0707
/
px4-firmware
forked from Archive/PX4-Autopilot
1
0
Fork 0
Code Pull Requests Activity

Removed the huge HAGL fuse timeout increase

This commit is contained in:
Eric Katzfey 2023-04-19 09:42:27 -07:00 committed by Daniel Agar
parent fe335344e7
commit 7dd8e3f614
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/ekf2/EKF/optical_flow_control.cpp
View File

@ -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)) { 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 // 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 // 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(); fuseOptFlow();
_last_known_pos.xy() = _state.pos.xy(); _last_known_pos.xy() = _state.pos.xy();
} }