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ekf2: fix flow gyro bias corrections (#22145)

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* ekf2-flow: fix flow gyro bias compensation
* ekf2-flow: apply flow gyro bias when used
* ekf2: log optical flow gyro bias
* ekf2: optical flow control always use provided flow gyro (with bias applied)
* ekf2-flow: log flow gyro and gyro reference
* ekf2-flow: support senrors with XY flow gyro

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Co-authored-by: Daniel Agar <daniel@agar.ca>
Co-authored-by: bresch <[brescianimathieu@gmail.com](mailto:brescianimathieu@gmail.com)>
This commit is contained in:
Mathieu Bresciani
2023-10-05 10:51:30 -04:00
committed by GitHub
co-authored by Daniel Agar bresch
parent e00b35e142
commit d61743412c
6 changed files with 44 additions and 29 deletions
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msg/VehicleOpticalFlowVel.msg
+4
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@@ -10,4 +10,8 @@ float32[2] flow_compensated_integral # integrated optical flow measurement com
float32[3] gyro_rate # gyro measurement synchronized with flow measurements (rad/s)
float32[3] gyro_rate_integral # gyro measurement integrated to flow rate and synchronized with flow measurements (rad)
float32[3] gyro_bias
float32[3] ref_gyro
float32[3] meas_gyro
# TOPICS estimator_optical_flow_vel vehicle_optical_flow_vel