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Improvements to lpe for flow and gps. (#5401)

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This commit is contained in:
James Goppert
2016-08-27 23:50:24 -04:00
committed by GitHub
parent be1417f613
commit 6b08e8ce1f
6 changed files with 94 additions and 20 deletions
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src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
+7 -5
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@@ -98,10 +98,10 @@ class BlockLocalPositionEstimator : public control::SuperBlock
// ax, ay, az (acceleration NED)
//
// states:
// px, py, pz , ( position NED)
// vx, vy, vz ( vel NED),
// bx, by, bz ( accel bias)
// tz (terrain altitude, ASL)
// px, py, pz , ( position NED, m)
// vx, vy, vz ( vel NED, m/s),
// bx, by, bz ( accel bias, m/s^2)
// tz (terrain altitude, ASL, m)
//
// measurements:
//
@@ -184,6 +184,7 @@ private:
int flowMeasure(Vector<float, n_y_flow> &y);
void flowCorrect();
void flowInit();
void flowDeinit();
void flowCheckTimeout();
// vision
@@ -282,6 +283,7 @@ private:
// flow parameters
BlockParamFloat _flow_z_offset;
BlockParamFloat _flow_xy_stddev;
BlockParamFloat _flow_xy_d_stddev;
//BlockParamFloat _flow_board_x_offs;
//BlockParamFloat _flow_board_y_offs;
BlockParamInt _flow_min_q;
@@ -290,6 +292,7 @@ private:
BlockParamFloat _pn_p_noise_density;
BlockParamFloat _pn_v_noise_density;
BlockParamFloat _pn_b_noise_density;
BlockParamFloat _pn_t_noise_density;
BlockParamFloat _t_max_grade;
// init origin
@@ -354,7 +357,6 @@ private:
// flow integration
float _flowX;
float _flowY;
float _flowMeanQual;
// status
bool _validXY;