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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

---------

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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src/drivers/uavcan/sensors/flow.cpp
+1 -1
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@@ -79,7 +79,7 @@ void UavcanFlowBridge::flow_sub_cb(const uavcan::ReceivedDataStructure<com::hex:
if (PX4_ISFINITE(msg.rate_gyro_integral[0]) && PX4_ISFINITE(msg.rate_gyro_integral[1])) {
flow.delta_angle[0] = msg.rate_gyro_integral[0];
flow.delta_angle[1] = msg.rate_gyro_integral[1];
flow.delta_angle[2] = 0.f;
flow.delta_angle[2] = NAN;
flow.delta_angle_available = true;
} else {