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Add EKF2_OF_QMIN_GND to handle 0 optical flow quality when on ground

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alexklimaj
2023-07-17 11:13:43 -04:00
committed by Daniel Agar
parent 694501b782
commit 36ec1fa811
5 changed files with 21 additions and 3 deletions
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src/modules/ekf2/ekf2_params.c
+10 -1
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@@ -901,7 +901,7 @@ PARAM_DEFINE_FLOAT(EKF2_OF_N_MIN, 0.15f);
PARAM_DEFINE_FLOAT(EKF2_OF_N_MAX, 0.5f);
/**
* Optical Flow data will only be used if the sensor reports a quality metric >= EKF2_OF_QMIN.
* Optical Flow data will only be used in air if the sensor reports a quality metric >= EKF2_OF_QMIN.
*
* @group EKF2
* @min 0
@@ -909,6 +909,15 @@ PARAM_DEFINE_FLOAT(EKF2_OF_N_MAX, 0.5f);
*/
PARAM_DEFINE_INT32(EKF2_OF_QMIN, 1);
/**
* Optical Flow data will only be used on the ground if the sensor reports a quality metric >= EKF2_OF_QMIN_GND.
*
* @group EKF2
* @min 0
* @max 255
*/
PARAM_DEFINE_INT32(EKF2_OF_QMIN_GND, 0);
/**
* Gate size for optical flow fusion
*