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optical flow sensor pipeline overhaul

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- all sources of optical flow publish sensor_optical_flow
 - sensor_optical_flow is aggregated by the sensors module, aligned with integrated gyro, and published as vehicle_optical_flow

Co-authored-by: alexklimaj <alex@arkelectron.com>
This commit is contained in:
Daniel Agar
2022-06-20 20:56:56 -04:00
co-authored by alexklimaj
parent 32544452f0
commit d5839e2dd5
49 changed files with 1415 additions and 634 deletions
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ROMFS/px4fmu_common/init.d-posix/airframes/1010_iris_opt_flow
+4
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@@ -18,3 +18,7 @@ param set-default LPE_FAKE_ORIGIN 1
param set-default MPC_ALT_MODE 2
param set-default SENS_FLOW_ROT 6
param set-default SENS_FLOW_MINHGT 0.7
param set-default SENS_FLOW_MAXHGT 3.0
param set-default SENS_FLOW_MAXR 2.5
ROMFS/px4fmu_common/init.d-posix/airframes/1017_iris_opt_flow_mockup
-1
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@@ -9,7 +9,6 @@
# EKF2
param set-default EKF2_AID_MASK 2
param set-default SENS_FLOW_ROT 0
# LPE: Flow-only mode
param set-default LPE_FUSION 242
ROMFS/px4fmu_common/init.d/airframes/4016_holybro_px4vision
-1
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@@ -104,7 +104,6 @@ param set-default SDLOG_PROFILE 131
param set-default SENS_CM8JL65_CFG 104
param set-default SENS_FLOW_MAXHGT 25
param set-default SENS_FLOW_MINHGT 0.5
param set-default SENS_FLOW_ROT 0
param set-default IMU_GYRO_CUTOFF 100
param set-default SENS_EN_PMW3901 1
ROMFS/px4fmu_common/init.d/airframes/4061_atl_mantis_edu
+1 -1
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@@ -174,7 +174,7 @@ param set-default RC1_TRIM 1000
param set-default SENS_FLOW_MAXR 7.4
param set-default SENS_FLOW_MINHGT 0.15
param set-default SENS_FLOW_MAXHGT 5.0
param set-default SENS_FLOW_ROT 0
param set-default SENS_FLOW_ROT 0
# ignore the SD card errors and use normal startup sound
set STARTUP_TUNE "1"