From e35921534d95ff579aa596fc7ca097de9ce1fc0d Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Sat, 29 Apr 2017 11:43:35 +1000 Subject: [PATCH] EKF: fix reporting of optical flow fusion errors --- EKF/optflow_fusion.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/EKF/optflow_fusion.cpp b/EKF/optflow_fusion.cpp index 16b03d2e94..1e88d6ab7c 100644 --- a/EKF/optflow_fusion.cpp +++ b/EKF/optflow_fusion.cpp @@ -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)); } }