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Flow aiding - Reset state when flow is enabled only if it is the only position/velocity aiding sensor #637

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Sep 3, 2019
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Flow aiding - Reset state when flow is enabled only if it is the only position/velocity aiding sensor #637

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7 changes: 3 additions & 4 deletions EKF/control.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -465,20 +465,19 @@ void Ekf::controlOpticalFlowFusion()
_control_status.flags.opt_flow = true;
_time_last_of_fuse = _time_last_imu;

// if we are not using GPS then the velocity and position states and covariances need to be set
if (!_control_status.flags.gps || !_control_status.flags.ev_pos) {
// if we are not using GPS or external vision aiding, then the velocity and position states and covariances need to be set
const bool flow_aid_only = !(_control_status.flags.gps || _control_status.flags.ev_pos);
if (flow_aid_only) {
resetVelocity();
resetPosition();

// align the output observer to the EKF states
alignOutputFilter();

}
}

} else if (!(_params.fusion_mode & MASK_USE_OF)) {
_control_status.flags.opt_flow = false;

}

// handle the case when we have optical flow, are reliant on it, but have not been using it for an extended period
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