From 4a0b41bbc090aa648d038d65461963a114e8c186 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 20 Jun 2018 10:28:58 +1000 Subject: [PATCH] ekf2: Enable use of flow sensors not fitted with gyros (#9703) * ecl: Update to version allowing use of flow sensors without gyros * msg: Update description for optical_flow Adds advice for publishing gyro rate integral message when no rate gyro is fitted. --- msg/optical_flow.msg | 6 +++--- src/lib/ecl | 2 +- 2 files changed, 4 insertions(+), 4 deletions(-) diff --git a/msg/optical_flow.msg b/msg/optical_flow.msg index d6f205d4fb..de418511eb 100644 --- a/msg/optical_flow.msg +++ b/msg/optical_flow.msg @@ -4,9 +4,9 @@ uint8 sensor_id # id of the sensor emitting the flow value float32 pixel_flow_x_integral # accumulated optical flow in radians where a positive value is produced by a RH rotation about the X body axis float32 pixel_flow_y_integral # accumulated optical flow in radians where a positive value is produced by a RH rotation about the Y body axis -float32 gyro_x_rate_integral # accumulated gyro value in radians where a positive value is produced by a RH rotation about the X body axis -float32 gyro_y_rate_integral # accumulated gyro value in radians where a positive value is produced by a RH rotation about the Y body axis -float32 gyro_z_rate_integral # accumulated gyro value in radians where a positive value is produced by a RH rotation about the Z body axis +float32 gyro_x_rate_integral # accumulated gyro value in radians where a positive value is produced by a RH rotation about the X body axis. Set to NaN if flow sensor does not have 3-axis gyro data. +float32 gyro_y_rate_integral # accumulated gyro value in radians where a positive value is produced by a RH rotation about the Y body axis. Set to NaN if flow sensor does not have 3-axis gyro data. +float32 gyro_z_rate_integral # accumulated gyro value in radians where a positive value is produced by a RH rotation about the Z body axis. Set to NaN if flow sensor does not have 3-axis gyro data. float32 ground_distance_m # Altitude / distance to ground in meters uint32 integration_timespan # accumulation timespan in microseconds uint32 time_since_last_sonar_update # time since last sonar update in microseconds diff --git a/src/lib/ecl b/src/lib/ecl index 1a1106878d..1cba257bac 160000 --- a/src/lib/ecl +++ b/src/lib/ecl @@ -1 +1 @@ -Subproject commit 1a1106878d6ab1cc48565bef9b25b07d626c5d0b +Subproject commit 1cba257bac94ffe7c9b48fb9ff9de73c582d68d8