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add back optical flow terrain fusion

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This commit is contained in:
Jacob Dahl
2025-09-22 17:04:45 -08:00
parent 50d3b7e1ff
commit 9cfb42ec03
1 changed files with 3 additions and 8 deletions
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src/modules/ekf2/EKF/aid_sources/optical_flow/optical_flow_control.cpp
+3 -8
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@@ -160,11 +160,8 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
&& (isTerrainEstimateValid() || isHorizontalAidingActive())
&& isTimedOut(_aid_src_optical_flow.time_last_fuse, (uint64_t)2e6); // Prevent rapid switching
// DEBUGGING: disable flow fusion for terrain estimation to limit variables
_control_status.flags.opt_flow_terrain = false;
// If the height is relative to the ground, terrain height cannot be observed.
// _control_status.flags.opt_flow_terrain = _control_status.flags.opt_flow && !(_height_sensor_ref == HeightSensor::RANGE);
_control_status.flags.opt_flow_terrain = _control_status.flags.opt_flow && !(_height_sensor_ref == HeightSensor::RANGE);
if (_control_status.flags.opt_flow) {
if (continuing_conditions_passing) {
@@ -194,8 +191,7 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
} else {
if (starting_conditions_passing) {
// If the height is relative to the ground, terrain height cannot be observed.
// DEBUGGING: disable flow fusion for terrain estimation to limit variables
// _control_status.flags.opt_flow_terrain = (_height_sensor_ref != HeightSensor::RANGE);
_control_status.flags.opt_flow_terrain = (_height_sensor_ref != HeightSensor::RANGE);
if (isHorizontalAidingActive()) {
if (fuseOptFlow(H, _control_status.flags.opt_flow_terrain)) {
@@ -221,8 +217,7 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
}
}
// DEBUGGING: disable flow fusion for terrain estimation to limit variables
// _control_status.flags.opt_flow_terrain = _control_status.flags.opt_flow && !(_height_sensor_ref == HeightSensor::RANGE);
_control_status.flags.opt_flow_terrain = _control_status.flags.opt_flow && !(_height_sensor_ref == HeightSensor::RANGE);
}
}