From f8f8ddc101214a7123d0f276fed09edd215afbb7 Mon Sep 17 00:00:00 2001 From: Daniel Agar Date: Fri, 5 Jul 2024 12:43:35 -0400 Subject: [PATCH] ekf2: optical flow update last hor vel timestamp on success --- .../ekf2/EKF/aid_sources/optical_flow/optical_flow_fusion.cpp | 2 ++ 1 file changed, 2 insertions(+) diff --git a/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_fusion.cpp b/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_fusion.cpp index e5c0e7bd3548..e95df3dbc2d1 100644 --- a/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_fusion.cpp +++ b/src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_fusion.cpp @@ -99,6 +99,8 @@ bool Ekf::fuseOptFlow(VectorState &H, const bool update_terrain) _aid_src_optical_flow.time_last_fuse = _time_delayed_us; _aid_src_optical_flow.fused = true; + _time_last_hor_vel_fuse = _time_delayed_us; + if (update_terrain) { _time_last_terrain_fuse = _time_delayed_us; }