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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/estimator_interface.h
+1 -1
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@@ -120,7 +120,7 @@ public:
#endif // CONFIG_EKF2_RANGE_FINDER
#if defined(CONFIG_EKF2_OPTICAL_FLOW)
// if optical flow sensor gyro delta angles are not available, set gyro_xyz vector fields to NaN and the EKF will use its internal delta angle data instead
// if optical flow sensor gyro delta angles are not available, set gyro_rate vector fields to NaN and the EKF will use its internal gyro data instead
void setOpticalFlowData(const flowSample &flow);
// set sensor limitations reported by the optical flow sensor