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EKF : introduce new architechture for navigation limits

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This commit is contained in:
Mohammed Kabir
2018-06-09 22:23:55 +02:00
committed by Lorenz Meier
parent 8a713398cb
commit b4d2b8c57d
7 changed files with 67 additions and 35 deletions
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EKF/control.cpp
+1 -1
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@@ -343,7 +343,7 @@ void Ekf::controlOpticalFlowFusion()
float accel_norm = _accel_vec_filt.norm();
bool motion_is_excessive = ((accel_norm > 14.7f) // accel greater than 1.5g
|| (accel_norm < 4.9f) // accel less than 0.5g
|| (_ang_rate_mag_filt > _params.flow_rate_max) // angular rate exceeds flow sensor limit
|| (_ang_rate_mag_filt > _flow_max_rate) // angular rate exceeds flow sensor limit
|| (_R_to_earth(2,2) < 0.866f)); // tilted more than 30 degrees
if (motion_is_excessive) {
_time_bad_motion_us = _imu_sample_delayed.time_us;