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Add EKF2_OF_QMIN_GND to handle 0 optical flow quality when on ground

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This commit is contained in:
alexklimaj
2023-07-11 08:18:06 -07:00
committed by Ramon Roche
parent bca0be47bc
commit 03528a6200
5 changed files with 21 additions and 3 deletions
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src/modules/ekf2/EKF/optical_flow_control.cpp
+6 -1
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@@ -70,7 +70,12 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
}
if (_flow_data_ready) {
const bool is_quality_good = (_flow_sample_delayed.quality >= _params.flow_qual_min);
int32_t min_quality = _params.flow_qual_min;
if (!_control_status.flags.in_air) {
min_quality = _params.flow_qual_min_gnd;
}
const bool is_quality_good = (_flow_sample_delayed.quality >= min_quality);
const bool is_magnitude_good = !_flow_sample_delayed.flow_xy_rad.longerThan(_flow_sample_delayed.dt * _flow_max_rate);
const bool is_tilt_good = (_R_to_earth(2, 2) > _params.range_cos_max_tilt);