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EKF: relax optical flow on ground motion checks

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Paul Riseborough
2018-05-05 16:28:52 +10:00
parent 24b005ed57
commit 02963a85c4
1 changed files with 4 additions and 6 deletions
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EKF/control.cpp
+4 -6
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@@ -339,12 +339,10 @@ void Ekf::controlOpticalFlowFusion()
{ {
// Check if motion is un-suitable for use of optical flow // Check if motion is un-suitable for use of optical flow
if (!_control_status.flags.in_air) { if (!_control_status.flags.in_air) {
// Detect if the vehicle is on the ground and is being excessively tilted, shaken or rotated. bool motion_is_excessive = ((_accel_mag_filt > 14.7f)
bool motion_is_excessive = ((_accel_mag_filt > 15.0f) || (_accel_mag_filt < 4.9f)
|| (_accel_mag_filt < 5.0f) || (_ang_rate_mag_filt > _params.flow_rate_max)
|| (_ang_rate_mag_filt > 0.5f) || (_R_to_earth(2,2) < 0.866f));
|| (_R_to_earth(2, 2) < 0.866f));
if (motion_is_excessive) { if (motion_is_excessive) {
_time_bad_motion_us = _imu_sample_delayed.time_us; _time_bad_motion_us = _imu_sample_delayed.time_us;