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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/optflow_fusion.cpp
+1 -1
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@@ -95,7 +95,7 @@ void Ekf::fuseOptFlow()
opt_flow_rate(0) = _flow_sample_delayed.flowRadXYcomp(0) / _flow_sample_delayed.dt + _flow_gyro_bias(0);
opt_flow_rate(1) = _flow_sample_delayed.flowRadXYcomp(1) / _flow_sample_delayed.dt + _flow_gyro_bias(1);
if (opt_flow_rate.norm() < _params.flow_rate_max) {
if (opt_flow_rate.norm() < _flow_max_rate) {
_flow_innov[0] = vel_body(1) / range - opt_flow_rate(0); // flow around the X axis
_flow_innov[1] = -vel_body(0) / range - opt_flow_rate(1); // flow around the Y axis