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ekf2: add kconfig option to enable/disable optical flow fusion

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This commit is contained in:
Daniel Agar
2023-03-14 16:51:49 -04:00
parent 9f8fa99d70
commit 0784901a66
16 changed files with 194 additions and 66 deletions
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src/modules/ekf2/EKF/estimator_interface.cpp
+8
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@@ -53,7 +53,9 @@ EstimatorInterface::~EstimatorInterface()
#if defined(CONFIG_EKF2_AIRSPEED)
delete _airspeed_buffer;
#endif // CONFIG_EKF2_AIRSPEED
#if defined(CONFIG_EKF2_OPTICAL_FLOW)
delete _flow_buffer;
#endif // _flow_buffer
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
delete _ext_vision_buffer;
#endif // CONFIG_EKF2_EXTERNAL_VISION
@@ -322,6 +324,7 @@ void EstimatorInterface::setRangeData(const rangeSample &range_sample)
}
}
#if defined(CONFIG_EKF2_OPTICAL_FLOW)
void EstimatorInterface::setOpticalFlowData(const flowSample &flow)
{
if (!_initialised) {
@@ -356,6 +359,7 @@ void EstimatorInterface::setOpticalFlowData(const flowSample &flow)
ECL_WARN("optical flow data too fast %" PRIi64 " < %" PRIu64 " + %d", time_us, _flow_buffer->get_newest().time_us, _min_obs_interval_us);
}
}
#endif // CONFIG_EKF2_OPTICAL_FLOW
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
void EstimatorInterface::setExtVisionData(const extVisionSample &evdata)
@@ -560,9 +564,11 @@ bool EstimatorInterface::initialise_interface(uint64_t timestamp)
max_time_delay_ms = math::max(_params.gps_delay_ms, max_time_delay_ms);
}
#if defined(CONFIG_EKF2_OPTICAL_FLOW)
if (_params.fusion_mode & SensorFusionMask::USE_OPT_FLOW) {
max_time_delay_ms = math::max(_params.flow_delay_ms, max_time_delay_ms);
}
#endif // CONFIG_EKF2_OPTICAL_FLOW
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
if (_params.ev_ctrl > 0) {
@@ -704,9 +710,11 @@ void EstimatorInterface::print_status()
}
#endif // CONFIG_EKF2_AIRSPEED
#if defined(CONFIG_EKF2_OPTICAL_FLOW)
if (_flow_buffer) {
printf("flow buffer: %d/%d (%d Bytes)\n", _flow_buffer->entries(), _flow_buffer->get_length(), _flow_buffer->get_total_size());
}
#endif // CONFIG_EKF2_OPTICAL_FLOW
#if defined(CONFIG_EKF2_EXTERNAL_VISION)
if (_ext_vision_buffer) {