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EKF : Fix divergence when optical flow is not fused for a long time (#503)

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* terrain_estimator : guard against case where latest range sample is newer than IMU sample

* EKF : control : correct detection of no optical flow fusion over a time period
This commit is contained in:
Kabir Mohammed
2018-09-03 14:26:43 +10:00
committed by Paul Riseborough
parent b861594d0b
commit a7245229cb
2 changed files with 2 additions and 2 deletions
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EKF/terrain_estimator.cpp
+1 -1
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@@ -206,7 +206,7 @@ void Ekf::checkRangeDataContinuity()
/* Apply a 2.0 sec low pass filter to the time delta from the last range finder updates */
float alpha = 0.5f * _dt_update;
_dt_last_range_update_filt_us = _dt_last_range_update_filt_us * (1.0f - alpha) + alpha *
(_time_last_imu - _time_last_range);
(_imu_sample_delayed.time_us - _range_sample_delayed.time_us);
_dt_last_range_update_filt_us = fminf(_dt_last_range_update_filt_us, 4e6f);