HACK: force the EKF to use its own gyro for flow compensation

2023-09-26 15:41:34 +02:00
1 changed files with 1 additions and 0 deletions
--- 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);