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EKF: strengthen checking of local position status 

provides immediate status reporting when dropping out of optical flow mode
This commit is contained in:
Paul Riseborough 2016-04-16 13:56:50 +10:00
parent 31bf342fc1
commit 82920da232
1 changed files with 1 additions and 1 deletions
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2
EKF/estimator_interface.cpp
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@ -364,5 +364,5 @@ void EstimatorInterface::unallocate_buffers()
bool EstimatorInterface::local_position_is_valid()
{
// return true if the position estimate is valid
return ((_time_last_imu - _time_last_optflow) < 5e6) || global_position_is_valid();
return (((_time_last_imu - _time_last_optflow) < 5e6) && _control_status.flags.opt_flow) || global_position_is_valid();
}