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This commit is contained in:
alexklimaj
2023-07-11 08:18:06 -07:00
committed by Ramon Roche
parent 9511248514
commit bca0be47bc
2 changed files with 4 additions and 7 deletions
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src/modules/ekf2/EKF/optical_flow_control.cpp
+2 -2
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@@ -59,7 +59,7 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
// Accumulate autopilot gyro data across the same time interval as the flow sensor
const Vector3f delta_angle(imu_delayed.delta_ang - (getGyroBias() * imu_delayed.delta_ang_dt));
if (_delta_time_of < 0.5f) {
if (_delta_time_of < 0.2f) {
_imu_del_ang_of += delta_angle;
_delta_time_of += imu_delayed.delta_ang_dt;
@@ -75,7 +75,7 @@ void Ekf::controlOpticalFlowFusion(const imuSample &imu_delayed)
const bool is_tilt_good = (_R_to_earth(2, 2) > _params.range_cos_max_tilt);
const float delta_time_min = fmaxf(0.7f * _delta_time_of, 0.001f);
const float delta_time_max = fminf(1.3f * _delta_time_of, 0.5f);
const float delta_time_max = fminf(1.3f * _delta_time_of, 0.2f);
bool is_delta_time_good = _flow_sample_delayed.dt >= delta_time_min && _flow_sample_delayed.dt <= delta_time_max;
if (!is_delta_time_good && (_flow_sample_delayed.dt > FLT_EPSILON)) {