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Roman
2019-05-15 17:16:36 +10:00
committed by Paul Riseborough
parent 8673ab0346
commit c085d7295d
2 changed files with 6 additions and 2 deletions
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EKF/control.cpp
+1 -1
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@@ -124,7 +124,7 @@ void Ekf::controlFusionModes()
}
// check if we should fuse flow data for terrain estimation
if (!_flow_for_terrain_data_ready && _flow_data_ready) {
if (!_flow_for_terrain_data_ready && _flow_data_ready && _control_status.flags.in_air) {
// only fuse flow for terrain if range data hasn't been fused for 5 seconds
_flow_for_terrain_data_ready = (_time_last_imu - _time_last_hagl_fuse) > 5 * 1000 * 1000;
// only fuse flow for terrain if the main filter is not fusing flow and we are using gps