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ekf2: stop flow fusion on numerical error

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Daniel Agar
2024-07-11 12:22:26 -04:00
parent b425253a54
commit 4263fa9ee4
1 changed files with 1 additions and 0 deletions
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src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_fusion.cpp
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@@ -63,6 +63,7 @@ bool Ekf::fuseOptFlow(VectorState &H, const bool update_terrain)
// we need to reinitialise the covariance matrix and abort this fusion step // we need to reinitialise the covariance matrix and abort this fusion step
ECL_ERR("Opt flow error - covariance reset"); ECL_ERR("Opt flow error - covariance reset");
initialiseCovariance(); initialiseCovariance();
stopFlowFusion();
return false; return false;
} }