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ekf2: optical flow stop reset all flags

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Daniel Agar
2024-07-09 10:10:01 -04:00
parent 9dfd82ab06
commit f709ed409d
1 changed files with 6 additions and 0 deletions
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src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp
+6
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@@ -215,6 +215,12 @@ void Ekf::stopFlowFusion()
ECL_INFO("stopping optical flow fusion"); ECL_INFO("stopping optical flow fusion");
_control_status.flags.opt_flow = false; _control_status.flags.opt_flow = false;
_hagl_sensor_status.flags.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;
} }
} }