fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-17 05:37:35 +08:00
Code Issues Packages Projects Releases Wiki Activity

Hot flow fusion fix

Browse Source
This commit is contained in:
kamilritz
2020-01-28 17:15:05 +01:00
committed by Mathieu Bresciani
parent ee859e092a
commit da752c9e30
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/control.cpp
+1 -1
View File
@@ -540,7 +540,7 @@ void Ekf::controlOpticalFlowFusion()
if (_flow_data_ready && (_imu_sample_delayed.time_us > _flow_sample_delayed.time_us - uint32_t(1e6f * _flow_sample_delayed.dt) / 2)) {
// Fuse optical flow LOS rate observations into the main filter only if height above ground has been updated recently
// but use a relaxed time criteria to enable it to coast through bad range finder data
if (_control_status.flags.opt_flow && isTimedOut(_time_last_hagl_fuse, (uint64_t)10e6)) {
if (_control_status.flags.opt_flow && isRecent(_time_last_hagl_fuse, (uint64_t)10e6)) {
fuseOptFlow();
_last_known_posNE(0) = _state.pos(0);
_last_known_posNE(1) = _state.pos(1);