fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-16 23:33:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF : introduce new architechture for navigation limits

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
EKF/estimator_interface.cpp
+1 -1
View File
@@ -382,7 +382,7 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl
bool flow_magnitude_good = true;
if (delta_time_good) {
flow_rate_magnitude = flow->flowdata.norm() / delta_time;
flow_magnitude_good = (flow_rate_magnitude <= _params.flow_rate_max);
flow_magnitude_good = (flow_rate_magnitude <= _flow_max_rate);
}
bool relying_on_flow = _control_status.flags.opt_flow