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ekf2: filter flow vel (used for flow velocity reset)

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- individual flow samples can be quite erratic
This commit is contained in:
Daniel Agar
2024-08-27 10:38:17 -04:00
parent 5ff4eea870
commit 6c24413888
5 changed files with 29 additions and 9 deletions
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msg/VehicleOpticalFlowVel.msg
+3
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@@ -4,6 +4,9 @@ uint64 timestamp_sample # the timestamp of the raw data (microsec
float32[2] vel_body # velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s)
float32[2] vel_ne # same as vel_body but in local frame (m/s)
float32[2] vel_body_filtered # filtered velocity obtained from gyro-compensated and distance-scaled optical flow raw measurements in body frame(m/s)
float32[2] vel_ne_filtered # filtered same as vel_body_filtered but in local frame (m/s)
float32[2] flow_rate_uncompensated # integrated optical flow measurement (rad/s)
float32[2] flow_rate_compensated # integrated optical flow measurement compensated for angular motion (rad/s)