From 7f1686171b3a2dafa7d88a0ec864b5755913ea3b Mon Sep 17 00:00:00 2001 From: Mohammed Kabir Date: Sat, 19 May 2018 11:23:08 -0400 Subject: [PATCH] sensors : add parameter for maximum flow rate --- src/modules/sensors/sensor_params_flow.c | 15 ++++++++++++++- 1 file changed, 14 insertions(+), 1 deletion(-) diff --git a/src/modules/sensors/sensor_params_flow.c b/src/modules/sensors/sensor_params_flow.c index 58d27c2d9f..c5c91694b1 100644 --- a/src/modules/sensors/sensor_params_flow.c +++ b/src/modules/sensors/sensor_params_flow.c @@ -83,4 +83,17 @@ PARAM_DEFINE_FLOAT(SENS_FLOW_MINHGT, 0.7f); * @decimal 1 * @group Sensor Calibration */ -PARAM_DEFINE_FLOAT(SENS_FLOW_MAXHGT, 3.0f); \ No newline at end of file +PARAM_DEFINE_FLOAT(SENS_FLOW_MAXHGT, 3.0f); + +/** + * Magnitude of maximum angular flow rate reliably measurable by the optical flow sensor. + * Optical flow data will not fused by the estimators if the magnitude of the flow rate exceeds this value and + * control loops will be instructed to limit ground speed such that the flow rate produced by movement over ground + * is less than 50% of this value. + * + * @unit rad/s + * @min 1.0 + * @decimal 2 + * @group Sensor Calibration + */ +PARAM_DEFINE_FLOAT(SENS_FLOW_MAXR, 2.5f); \ No newline at end of file