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EKF: Don't fallback when optical flow is lost if external vision data is being used

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Paul Riseborough
2017-07-13 20:21:41 +09:00
parent 1bb576c197
commit 9ee35e38df
1 changed files with 1 additions and 1 deletions
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EKF/control.cpp
+1 -1
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@@ -336,7 +336,7 @@ void Ekf::controlOpticalFlowFusion()
} }
// handle the case when we are relying on optical flow fusion and lose it // handle the case when we are relying on optical flow fusion and lose it
if (_control_status.flags.opt_flow && !_control_status.flags.gps) { if (_control_status.flags.opt_flow && !_control_status.flags.gps && !_control_status.flags.ev_pos) {
// We are relying on flow aiding to constrain attitude drift so after 5s without aiding we need to do something // We are relying on flow aiding to constrain attitude drift so after 5s without aiding we need to do something
if ((_time_last_imu - _time_last_of_fuse > 5e6)) { if ((_time_last_imu - _time_last_of_fuse > 5e6)) {
// Switch to the non-aiding mode, zero the velocity states // Switch to the non-aiding mode, zero the velocity states