From b861594d0b2f8c476cb758f9ae22c83e14920dfe Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Sat, 1 Sep 2018 21:10:57 +1000 Subject: [PATCH] EKF: enable optical flow use to bootstrap --- EKF/estimator_interface.cpp | 4 +--- 1 file changed, 1 insertion(+), 3 deletions(-) diff --git a/EKF/estimator_interface.cpp b/EKF/estimator_interface.cpp index bf2ce20217..00c8acacce 100644 --- a/EKF/estimator_interface.cpp +++ b/EKF/estimator_interface.cpp @@ -369,9 +369,7 @@ 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.opt_flow - && !_control_status.flags.gps - && !_control_status.flags.ev_pos; + bool relying_on_flow = !_control_status.flags.gps && !_control_status.flags.ev_pos; // check quality metric bool flow_quality_good = (flow->quality >= _params.flow_qual_min);