From bf4e564b2307e540b456a59e3874ac64deb822fd Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 26 Jun 2024 14:49:48 -0400 Subject: [PATCH] ekf2: resetTerrainToFlow() reset aid src status appropriately --- .../EKF/aid_sources/optical_flow/optical_flow_control.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp b/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp index 8d4792d7fa..b1847e2427 100644 --- a/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp +++ b/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp @@ -184,10 +184,10 @@ void Ekf::resetTerrainToFlow() P.uncorrelateCovarianceSetVariance(State::terrain.idx, 100.f); _terrain_vpos_reset_counter++; + resetAidSourceStatusZeroInnovation(_aid_src_optical_flow); + _innov_check_fail_status.flags.reject_optflow_X = false; _innov_check_fail_status.flags.reject_optflow_Y = false; - - _aid_src_optical_flow.time_last_fuse = _time_delayed_us; } void Ekf::stopFlowFusion()