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EKF: Protect against divide by zero caused by invalid optical flow

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This commit is contained in:
Paul Riseborough
2017-10-11 21:54:47 +11:00
parent ab9b8e1964
commit d293c4231d
1 changed files with 7 additions and 1 deletions
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EKF/estimator_interface.cpp
+7 -1
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@@ -278,7 +278,13 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl
// 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 >= 5e-7f * (float)_min_obs_interval_us);
float delta_time_min = 5e-7f * (float)_min_obs_interval_us;
bool delta_time_good = delta_time >= delta_time_min;
if (!delta_time_good) {
// protect against overflow casued by division with very small delta_time
delta_time = delta_time_min;
}
// check magnitude is within sensor limits
float flow_rate_magnitude;