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Hot flow fusion fix

This commit is contained in:
kamilritz 2020-01-28 17:15:05 +01:00 committed by Mathieu Bresciani
parent ee859e092a
commit da752c9e30
1 changed files with 1 additions and 1 deletions
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2
EKF/control.cpp
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@ -540,7 +540,7 @@ void Ekf::controlOpticalFlowFusion()
if (_flow_data_ready && (_imu_sample_delayed.time_us > _flow_sample_delayed.time_us - uint32_t(1e6f * _flow_sample_delayed.dt) / 2)) { if (_flow_data_ready && (_imu_sample_delayed.time_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 (_control_status.flags.opt_flow && isTimedOut(_time_last_hagl_fuse, (uint64_t)10e6)) { if (_control_status.flags.opt_flow && isRecent(_time_last_hagl_fuse, (uint64_t)10e6)) {
fuseOptFlow(); fuseOptFlow();
_last_known_posNE(0) = _state.pos(0); _last_known_posNE(0) = _state.pos(0);
_last_known_posNE(1) = _state.pos(1); _last_known_posNE(1) = _state.pos(1);