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ekf2-flow: add param to force using internal gyro

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In some cases the vibration environment of the optical flow sensor is
worse than near the autopilot.
This commit is contained in:
bresch
2024-07-25 15:02:57 +02:00
committed by Daniel Agar
parent a07c986dbc
commit 0b1eba948a
5 changed files with 37 additions and 5 deletions
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src/modules/ekf2/EKF2.cpp
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@@ -181,6 +181,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
#endif // CONFIG_EKF2_EXTERNAL_VISION
#if defined(CONFIG_EKF2_OPTICAL_FLOW)
_param_ekf2_of_ctrl(_params->flow_ctrl),
_param_ekf2_of_gyr_src(_params->flow_gyro_src),
_param_ekf2_of_delay(_params->flow_delay_ms),
_param_ekf2_of_n_min(_params->flow_noise),
_param_ekf2_of_n_max(_params->flow_noise_qual_min),