From f709ed409dfc60c4ba8886b9ee180149bf9bb997 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Wed, 26 Jun 2024 16:23:25 -0400 Subject: [PATCH] ekf2: optical flow stop reset all flags --- .../EKF/aid_sources/optical_flow/optical_flow_control.cpp | 6 ++++++ 1 file changed, 6 insertions(+) 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 2e3db2037a..ea78b14bf4 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 @@ -215,6 +215,12 @@ void Ekf::stopFlowFusion() ECL_INFO("stopping optical flow fusion"); _control_status.flags.opt_flow = false; _hagl_sensor_status.flags.flow = false; + + _fault_status.flags.bad_optflow_X = false; + _fault_status.flags.bad_optflow_Y = false; + + _innov_check_fail_status.flags.reject_optflow_X = false; + _innov_check_fail_status.flags.reject_optflow_Y = false; } }