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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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src/modules/ekf2/EKF/common.h
+4 -5
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@@ -225,11 +225,10 @@ struct airspeedSample {
};
struct flowSample {
uint64_t time_us{}; ///< timestamp of the integration period leading edge (uSec)
Vector2f flow_xy_rad{}; ///< measured delta angle of the image about the X and Y body axes (rad), RH rotation is positive
Vector3f gyro_xyz{}; ///< measured delta angle of the inertial frame about the body axes obtained from rate gyro measurements (rad), RH rotation is positive
float dt{}; ///< amount of integration time (sec)
uint8_t quality{}; ///< quality indicator between 0 and 255
uint64_t time_us{}; ///< timestamp of the integration period midpoint (uSec)
Vector2f flow_rate{}; ///< measured angular rate of the image about the X and Y body axes (rad/s), RH rotation is positive
Vector3f gyro_rate{}; ///< measured angular rate of the inertial frame about the body axes obtained from rate gyro measurements (rad/s), RH rotation is positive
uint8_t quality{}; ///< quality indicator between 0 and 255
};
#if defined(CONFIG_EKF2_EXTERNAL_VISION)