fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-15 09:03:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

Add missing checks for flags.ev_vel

Browse Source
This commit is contained in:
kamilritz
2019-09-24 07:48:46 +10:00
committed by Paul Riseborough
parent e7d927c899
commit 4511b9ff5e
4 changed files with 23 additions and 16 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/estimator_interface.cpp
+1 -1
View File
@@ -384,7 +384,7 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl
flow_magnitude_good = (flow_rate_magnitude <= _flow_max_rate);
}
bool relying_on_flow = !_control_status.flags.gps && !_control_status.flags.ev_pos;
bool relying_on_flow = !_control_status.flags.gps && !_control_status.flags.ev_pos && !_control_status.flags.ev_vel;
// check quality metric
bool flow_quality_good = (flow->quality >= _params.flow_qual_min);