From 9b9934ac061f32d0c91b6cdae068276ff65592c7 Mon Sep 17 00:00:00 2001
From: priseborough <p_riseborough@live.com.au>
Date: Sat, 1 Nov 2014 19:53:46 +1100
Subject: [PATCH] AP_NavEKF : fix velocity timeout bug during optical flow
 operation

---
 libraries/AP_NavEKF/AP_NavEKF.cpp | 2 ++
 1 file changed, 2 insertions(+)

diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp
index 33b3c15e9f..23ffd651c9 100644
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@@ -3011,6 +3011,8 @@ void NavEKF::FuseOptFlow()
 
     // Check the innovation for consistency and don't fuse if out of bounds
     if (flowTestRatio[obsIndex] < 1.0f) {
+        // Reset the timer for velocity fusion timeout. This prevents a velocity timeout from being declared if we have to momentarily go into velocity hold mode.
+        velFailTime = imuSampleTime_ms;
         // correct the state vector
         for (uint8_t j = 0; j <= 21; j++)
         {