From e9670be63d51d3ac33db9b34478732da0ee5db79 Mon Sep 17 00:00:00 2001
From: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
Date: Tue, 26 Sep 2023 15:41:34 +0200
Subject: [PATCH] HACK: force the EKF to use its own gyro for flow compensation

---
 src/modules/ekf2/EKF/estimator_interface.cpp | 1 +
 1 file changed, 1 insertion(+)

diff --git a/src/modules/ekf2/EKF/estimator_interface.cpp b/src/modules/ekf2/EKF/estimator_interface.cpp
index 04879dfd92..05b67deac2 100644
--- a/src/modules/ekf2/EKF/estimator_interface.cpp
+++ b/src/modules/ekf2/EKF/estimator_interface.cpp
@@ -364,6 +364,7 @@ void EstimatorInterface::setOpticalFlowData(const flowSample &flow)
 
 		flowSample optflow_sample_new{flow};
 		optflow_sample_new.time_us = time_us;
+		optflow_sample_new.gyro_xyz.setNaN();
 
 		_flow_buffer->push(optflow_sample_new);