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EKF: Don't use magnetometer with optical flow only nav if GPS checks are failing

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Paul Riseborough
2018-06-09 22:23:55 +02:00
committed by Lorenz Meier
parent 84516760c0
commit 0160aaa568
4 changed files with 29 additions and 3 deletions
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EKF/optflow_fusion.cpp
-1
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@@ -500,7 +500,6 @@ void Ekf::fuseOptFlow()
fuse(gain, _flow_innov[obs_index]);
_time_last_of_fuse = _time_last_imu;
_gps_check_fail_status.value = 0;
}
}
}