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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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src/modules/ekf2/EKF/ekf.h
+4 -1
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@@ -104,9 +104,12 @@ public:
const Vector2f &getFlowVelBody() const { return _flow_vel_body; }
const Vector2f &getFlowVelNE() const { return _flow_vel_ne; }
const Vector2f &getFlowCompensated() const { return _flow_compensated_XY_rad; }
const Vector2f &getFlowUncompensated() const { return _flow_sample_delayed.flow_xy_rad; }
const Vector3f &getFlowGyro() const { return _flow_sample_delayed.gyro_xyz; }
const Vector3f getFlowGyro() const { return _flow_sample_delayed.gyro_xyz * (1.f / _flow_sample_delayed.dt); }
const Vector3f &getFlowGyroIntegral() const { return _flow_sample_delayed.gyro_xyz; }
void getHeadingInnov(float &heading_innov) const { heading_innov = _heading_innov; }
void getHeadingInnovVar(float &heading_innov_var) const { heading_innov_var = _heading_innov_var; }