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ekf2: fix calcOptFlowBodyRateComp() gyro bias

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- adjust flow sample gyro_rate immediately after popping from ring
   buffer
 - always update flow gyro bias (calcOptFlowBodyRateComp()) regardless
   of flow quality or magnitude
This commit is contained in:
Daniel Agar
2024-07-09 10:10:01 -04:00
parent 4d324da9f8
commit 7047f9441c
3 changed files with 30 additions and 30 deletions
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src/modules/ekf2/EKF/ekf.h
+2 -2
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@@ -134,7 +134,7 @@ public:
const Vector3f getFlowGyro() const { return _flow_sample_delayed.gyro_rate; }
const Vector3f &getFlowGyroBias() const { return _flow_gyro_bias; }
const Vector3f &getRefBodyRate() const { return _ref_body_rate; }
const Vector3f &getFlowRefBodyRate() const { return _ref_body_rate; }
#endif // CONFIG_EKF2_OPTICAL_FLOW
float getHeadingInnov() const
@@ -846,7 +846,7 @@ private:
float calcOptFlowMeasVar(const flowSample &flow_sample) const;
// calculate optical flow body angular rate compensation
void calcOptFlowBodyRateComp(const imuSample &imu_delayed);
void calcOptFlowBodyRateComp(const flowSample &flow_sample);
float predictFlowRange() const;
Vector2f predictFlow(const Vector3f &flow_gyro) const;