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EKF: Allow optical flow use when on-ground with poor data quality

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Paul Riseborough
2017-01-17 09:19:21 +11:00
parent 21270bb06a
commit 3fb7effb0c
1 changed files with 10 additions and 2 deletions
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EKF/estimator_interface.cpp
+10 -2
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@@ -303,7 +303,7 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl
// check quality metric
bool flow_quality_good = (flow->quality >= _params.flow_qual_min);
if (delta_time_good && flow_magnitude_good && flow_quality_good) {
if (delta_time_good && flow_magnitude_good && (flow_quality_good || !_control_status.flags.in_air)) {
flowSample optflow_sample_new;
// calculate the system time-stamp for the mid point of the integration period
optflow_sample_new.time_us = time_usec - _params.flow_delay_ms * 1000 - flow->dt / 2;
@@ -311,8 +311,16 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl
optflow_sample_new.quality = flow->quality;
// NOTE: the EKF uses the reverse sign convention to the flow sensor. EKF assumes positive LOS rate is produced by a RH rotation of the image about the sensor axis.
// copy the optical and gyro measured delta angles
optflow_sample_new.flowRadXY = - flow->flowdata;
optflow_sample_new.gyroXYZ = - flow->gyrodata;
if (flow_quality_good) {
optflow_sample_new.flowRadXY = - flow->flowdata;
} else {
// when on the ground with poor flow quality, assume zero ground relative velocity
optflow_sample_new.flowRadXY(0) = + flow->gyrodata(0);
optflow_sample_new.flowRadXY(1) = + flow->gyrodata(1);
}
// compensate for body motion to give a LOS rate
optflow_sample_new.flowRadXYcomp(0) = optflow_sample_new.flowRadXY(0) - optflow_sample_new.gyroXYZ(0);
optflow_sample_new.flowRadXYcomp(1) = optflow_sample_new.flowRadXY(1) - optflow_sample_new.gyroXYZ(1);