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EKF: relax terrain update requirements for continuing optical flow use

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Paul Riseborough
2018-05-05 16:34:55 +10:00
parent 868bc01087
commit e26711af7d
1 changed files with 2 additions and 2 deletions
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EKF/control.cpp
+2 -2
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@@ -441,8 +441,8 @@ void Ekf::controlOpticalFlowFusion()
} }
} }
// fuse the data if the terrain/distance to bottom is valid // fuse the data if the terrain/distance to bottom is valid but use a more relaxed check to enable it to survive bad range finder data
if (_control_status.flags.opt_flow && get_terrain_valid()) { if (_control_status.flags.opt_flow && (_time_last_imu - _time_last_hagl_fuse < (uint64_t)10e6)) {
// Update optical flow bias estimates // Update optical flow bias estimates
calcOptFlowBias(); calcOptFlowBias();