EKF: Fix bug causing slow drift when high rate flow data is used
EKF: Fix bug causing slow drift when high rate flow data is used

High rate optical flow data could make flow fusion to run every major update cycle, resulting in the calculation of bias errors in the body rates used to compensate flow data failing time validity checks and not running. This resulted in a slow drift of the nav solution if bias errors were present in the in the gyro data used for flow sensor motion compensation.

PX4/ecl,PX4/ecl,PX4/ecl,PX4/ecl,PX4/ecl