Earlier quoted context omitted.
Agree. It's interesting that they don't treat the optical and gyroscopic systems as two separate sensors with the possibility to disregard one if it disagrees too much. A quick restart of the visual system would have been the most optimal solution #2020-hindsight
How would you know which one is wrong in this scenario?
You have the navigation system as a third ‘sensor’, but in this case the sensor with an abnormal spike could be disregarded