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Removed the huge HAGL fuse timeout increase

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This commit is contained in:
Eric Katzfey
2023-07-11 08:18:06 -07:00
committed by Ramon Roche
parent f5d9ac4526
commit 9511248514
1 changed files with 1 additions and 1 deletions
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src/modules/ekf2/EKF/optical_flow_control.cpp
+1 -1
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@@ -204,7 +204,7 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
if (_time_delayed_us > (_flow_sample_delayed.time_us - uint32_t(1e6f * _flow_sample_delayed.dt) / 2)) {
// Fuse optical flow LOS rate observations into the main filter only if height above ground has been updated recently
// but use a relaxed time criteria to enable it to coast through bad range finder data
if (isRecent(_time_last_hagl_fuse, (uint64_t)100e6)) {
if (isRecent(_time_last_hagl_fuse, (uint64_t)10e6)) {
fuseOptFlow();
_last_known_pos.xy() = _state.pos.xy();
}