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ekf2: resetTerrainToFlow() reset aid src status appropriately

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This commit is contained in:
Daniel Agar
2024-07-09 10:10:01 -04:00
parent ced609daa8
commit bf4e564b23
1 changed files with 2 additions and 2 deletions
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src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp
+2 -2
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@@ -184,10 +184,10 @@ void Ekf::resetTerrainToFlow()
P.uncorrelateCovarianceSetVariance<State::terrain.dof>(State::terrain.idx, 100.f); P.uncorrelateCovarianceSetVariance<State::terrain.dof>(State::terrain.idx, 100.f);
_terrain_vpos_reset_counter++; _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_X = false;
_innov_check_fail_status.flags.reject_optflow_Y = false; _innov_check_fail_status.flags.reject_optflow_Y = false;
_aid_src_optical_flow.time_last_fuse = _time_delayed_us;
} }
void Ekf::stopFlowFusion() void Ekf::stopFlowFusion()