fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-02 05:04:08 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: remove hardcoded limit on optical flow time delta

Browse Source 
Allow for up to 50% lost data.
This commit is contained in:
Paul Riseborough 2017-01-17 20:14:18 +11:00
parent 3fb7effb0c
commit bcf7cac5d9
1 changed files with 3 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

5
EKF/estimator_interface.cpp
View File

@ -287,9 +287,10 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl
// limit data rate to prevent data being lost
if (time_usec - _time_last_optflow > _min_obs_interval_us) {
// check if enough integration time
// check if enough integration time and fail if integration time is less than 50%
// of min arrival interval because too much data is being lost
float delta_time = 1e-6f * (float)flow->dt;
bool delta_time_good = (delta_time >= 0.05f);
bool delta_time_good = (delta_time >= 5e-7f * (float)_min_obs_interval_us);
// check magnitude is within sensor limits
float flow_rate_magnitude;