From e52025cc2068fde1399067d13799769cc441562f Mon Sep 17 00:00:00 2001
From: Daniel Agar <daniel@agar.ca>
Date: Thu, 27 Jun 2024 17:57:03 -0400
Subject: [PATCH] ekf2: optical flow fusion timeout only reset if quality is
 good

---
 .../ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp  | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp b/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp
index 299a9931cd..85e4e5ebe1 100644
--- a/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp
+++ b/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp
@@ -142,7 +142,7 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
 
 				// handle the case when we have optical flow, are reliant on it, but have not been using it for an extended period
 				if (isTimedOut(_aid_src_optical_flow.time_last_fuse, _params.no_aid_timeout_max)) {
-					if (is_flow_required) {
+					if (is_flow_required && is_quality_good) {
 						resetFlowFusion();
 
 						if (_hagl_sensor_status.flags.flow && !isTerrainEstimateValid()) {