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EKF: fix reporting of optical flow fusion errors

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Paul Riseborough 2017-04-29 11:43:35 +10:00 committed by Lorenz Meier
parent 5112ffca90
commit e35921534d
1 changed files with 2 additions and 2 deletions
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4
EKF/optflow_fusion.cpp
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@ -405,10 +405,10 @@ void Ekf::fuseOptFlow()
for (uint8_t obs_index = 0; obs_index <= 1; obs_index++) {
if (optflow_test_ratio[obs_index] > 1.0f) {
flow_fail = true;
_innov_check_fail_status.value |= (1 << (obs_index + 9));
_innov_check_fail_status.value |= (1 << (obs_index + 10));
} else {
_innov_check_fail_status.value &= ~(1 << (obs_index + 9));
_innov_check_fail_status.value &= ~(1 << (obs_index + 10));
}
}