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EKF: fix reporting of optical flow fusion errors

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This commit is contained in:
Paul Riseborough
2017-04-29 11:46:39 +02:00
committed by Lorenz Meier
parent 5112ffca90
commit e35921534d
1 changed files with 2 additions and 2 deletions
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EKF/optflow_fusion.cpp
+2 -2
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@@ -405,10 +405,10 @@ void Ekf::fuseOptFlow()
for (uint8_t obs_index = 0; obs_index <= 1; obs_index++) { for (uint8_t obs_index = 0; obs_index <= 1; obs_index++) {
if (optflow_test_ratio[obs_index] > 1.0f) { if (optflow_test_ratio[obs_index] > 1.0f) {
flow_fail = true; flow_fail = true;
_innov_check_fail_status.value |= (1 << (obs_index + 9)); _innov_check_fail_status.value |= (1 << (obs_index + 10));
} else { } else {
_innov_check_fail_status.value &= ~(1 << (obs_index + 9)); _innov_check_fail_status.value &= ~(1 << (obs_index + 10));
} }
} }