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fix(ekf2): allow optical flow to start when range finder is height reference (#26960)

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When EKF2_HGT_REF=2 (range sensor) with no GPS, optical flow could
never start. The starting condition required isTerrainEstimateValid()
or isHorizontalAidingActive(), but terrain is never "estimated" when
range is the height reference (ground is the datum, terrain state is
fixed at 0), and there's no horizontal aiding without GPS.

HAGL is directly known from the range measurement in this case, so
optical flow has everything it needs to fuse. Add the range height
reference check to the optical flow starting conditions.

Fixes: https://github.com/PX4/PX4-Autopilot/issues/25248
This commit is contained in:
Jacob Dahl 2026-04-02 15:30:24 -08:00 committed by GitHub
parent ed387555e9
commit 9b6e7cb800
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1 changed files with 1 additions and 1 deletions
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src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp
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@ -157,7 +157,7 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
&& is_magnitude_good
&& is_tilt_good
&& (_flow_counter > 10)
&& (isTerrainEstimateValid() || isHorizontalAidingActive())
&& (isTerrainEstimateValid() || isHorizontalAidingActive() || (_height_sensor_ref == HeightSensor::RANGE))
&& isTimedOut(_aid_src_optical_flow.time_last_fuse, (uint64_t)2e6); // Prevent rapid switching
// If the height is relative to the ground, terrain height cannot be observed.