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ekf2: improve optical flow angular rate compensation

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This commit is contained in:
Mathieu Bresciani
2021-10-12 13:17:29 -04:00
committed by GitHub
parent fab053d33b
commit 56b0c46444
2 changed files with 12 additions and 4 deletions
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src/modules/ekf2/EKF/control.cpp
+1 -1
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@@ -388,7 +388,7 @@ void Ekf::controlOpticalFlowFusion()
// compensate for body motion to give a LOS rate
_flow_compensated_XY_rad = _flow_sample_delayed.flow_xy_rad - _flow_sample_delayed.gyro_xyz.xy();
} else if (!_control_status.flags.in_air && is_body_rate_comp_available) {
} else if (!_control_status.flags.in_air) {
if (!is_delta_time_good) {
// handle special case of SITL and PX4Flow where dt is forced to