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optical flow: inhibit flow fusion only when the terrain estimate gets invalid

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bresch
2020-01-15 16:07:17 +11:00
committed by Paul Riseborough
parent d06dc33ded
commit 0f4439d281
1 changed files with 1 additions and 1 deletions
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EKF/control.cpp
+1 -1
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@@ -453,7 +453,7 @@ void Ekf::controlOpticalFlowFusion()
if (!_inhibit_flow_use && _control_status.flags.opt_flow) { if (!_inhibit_flow_use && _control_status.flags.opt_flow) {
// inhibit use of optical flow if motion is unsuitable and we are not reliant on it for flight navigation // inhibit use of optical flow if motion is unsuitable and we are not reliant on it for flight navigation
bool preflight_motion_not_ok = !_control_status.flags.in_air && ((_imu_sample_delayed.time_us - _time_good_motion_us) > (uint64_t)1E5); bool preflight_motion_not_ok = !_control_status.flags.in_air && ((_imu_sample_delayed.time_us - _time_good_motion_us) > (uint64_t)1E5);
bool flight_motion_not_ok = _control_status.flags.in_air && !isRangeAidSuitable(); bool flight_motion_not_ok = _control_status.flags.in_air && !isTerrainEstimateValid();
if ((preflight_motion_not_ok || flight_motion_not_ok) && !flow_required) { if ((preflight_motion_not_ok || flight_motion_not_ok) && !flow_required) {
_inhibit_flow_use = true; _inhibit_flow_use = true;
} }