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ekf2: flow fusion start require valid fusion

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This commit is contained in:
Daniel Agar
2024-07-09 10:10:01 -04:00
parent 1df8f3f9d2
commit ced609daa8
3 changed files with 10 additions and 7 deletions
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src/modules/ekf2/EKF/ekf.h
+1 -1
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@@ -850,7 +850,7 @@ private:
// fuse optical flow line of sight rate measurements
void updateOptFlow(estimator_aid_source2d_s &aid_src);
void fuseOptFlow(bool update_terrain);
bool fuseOptFlow(bool update_terrain);
float predictFlowRange();
Vector2f predictFlowVelBody();
#endif // CONFIG_EKF2_OPTICAL_FLOW