From 1febba315af93d20eff748c246106bfa47081538 Mon Sep 17 00:00:00 2001
From: alessandro <3762382+potaito@users.noreply.github.com>
Date: Fri, 11 Feb 2022 13:14:03 +0100
Subject: [PATCH] mantis: disable optical flow fusion in EKF2

Above grass fields I can frequently observe position
instabilities with the mantis due to the optical flow fusion.

Let's disable flow fusion for now.
---
 ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu b/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
index 257f3bf85e..a7e6e06baf 100644
--- a/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
+++ b/ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
@@ -46,7 +46,7 @@ param set-default COM_RC_LOSS_T 3
 
 
 # ekf2
-param set-default EKF2_AID_MASK 35
+param set-default EKF2_AID_MASK 33
 param set-default EKF2_BARO_DELAY 0
 param set-default EKF2_BARO_NOISE 2.0