From 1df8f3f9d26feb6daa14f6349982faadd9df0dd7 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 26 Jun 2024 14:45:28 -0400 Subject: [PATCH] ekf2: resetFlowFusion() reset aid src status appropriately --- .../EKF/aid_sources/optical_flow/optical_flow_control.cpp | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp b/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp index d9b0887237..6cccdeece3 100644 --- a/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp +++ b/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp @@ -171,11 +171,10 @@ void Ekf::resetFlowFusion() resetHorizontalPositionTo(Vector2f(0.f, 0.f), 0.f); } - updateOptFlow(_aid_src_optical_flow); + resetAidSourceStatusZeroInnovation(_aid_src_optical_flow); + _innov_check_fail_status.flags.reject_optflow_X = false; _innov_check_fail_status.flags.reject_optflow_Y = false; - - _aid_src_optical_flow.time_last_fuse = _time_delayed_us; } void Ekf::resetTerrainToFlow()