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ekf2-flow: refactor control logic

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Use flow rates instead of integrals in backend. This allows us to delay
the data to the mitpoint integration time and simplifies the code in
general.
Gyro compensation can still be done in EKF2 if needed, but the
flow module normally already appends the correct gyro data to the flow
message.
This commit is contained in:
bresch
2023-11-21 21:56:34 -05:00
committed by Daniel Agar
parent 5f8ecd6b40
commit 1c3a1183c8
15 changed files with 201 additions and 312 deletions
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msg/VehicleOpticalFlowVel.msg
+2 -4
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@@ -4,14 +4,12 @@ uint64 timestamp_sample # the timestamp of the raw data (microsec
float32[2] vel_body # velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s)
float32[2] vel_ne # same as vel_body but in local frame (m/s)
float32[2] flow_uncompensated_integral # integrated optical flow measurement (rad)
float32[2] flow_compensated_integral # integrated optical flow measurement compensated for angular motion (rad)
float32[2] flow_rate_uncompensated # integrated optical flow measurement (rad/s)
float32[2] flow_rate_compensated # integrated optical flow measurement compensated for angular motion (rad/s)
float32[3] gyro_rate # gyro measurement synchronized with flow measurements (rad/s)
float32[3] gyro_rate_integral # gyro measurement integrated to flow rate and synchronized with flow measurements (rad)
float32[3] gyro_bias
float32[3] ref_gyro
float32[3] meas_gyro
# TOPICS estimator_optical_flow_vel vehicle_optical_flow_vel