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ekf2: correctly compute vel variance from flow variance

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Co-authored-by: Marco Hauswirth <marco.hauswirth@auterion.com>
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bresch
2024-08-26 11:28:36 -04:00
committed by Daniel Agar
co-authored by Marco Hauswirth
parent 1a4e8a7341
commit 9183c479a5
1 changed files with 3 additions and 1 deletions
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src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp
+3 -1
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@@ -217,7 +217,9 @@ void Ekf::resetFlowFusion()
{ {
ECL_INFO("reset velocity to flow"); ECL_INFO("reset velocity to flow");
_information_events.flags.reset_vel_to_flow = true; _information_events.flags.reset_vel_to_flow = true;
resetHorizontalVelocityTo(_flow_vel_ne, calcOptFlowMeasVar(_flow_sample_delayed));
const float flow_vel_var = sq(predictFlowRange()) * calcOptFlowMeasVar(_flow_sample_delayed);
resetHorizontalVelocityTo(_flow_vel_ne, flow_vel_var);
// reset position, estimate is relative to initial position in this mode, so we start with zero error // reset position, estimate is relative to initial position in this mode, so we start with zero error
if (!_control_status.flags.in_air) { if (!_control_status.flags.in_air) {