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ekf2: resetFlowFusion() reset aid src status appropriately

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This commit is contained in:
Daniel Agar
2024-07-09 10:10:01 -04:00
parent 8221940b60
commit 1df8f3f9d2
1 changed files with 2 additions and 3 deletions
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src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp
+2 -3
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@@ -171,11 +171,10 @@ void Ekf::resetFlowFusion()
resetHorizontalPositionTo(Vector2f(0.f, 0.f), 0.f); 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_X = false;
_innov_check_fail_status.flags.reject_optflow_Y = false; _innov_check_fail_status.flags.reject_optflow_Y = false;
_aid_src_optical_flow.time_last_fuse = _time_delayed_us;
} }
void Ekf::resetTerrainToFlow() void Ekf::resetTerrainToFlow()