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ekf2: optical flow control limits constrain speed using HAGL max

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Daniel Agar
2022-06-21 12:52:25 -04:00
parent 15747239c1
commit dc8ed97809
2 changed files with 23 additions and 24 deletions
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src/modules/ekf2/EKF/estimator_interface.h
+2 -2
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@@ -303,9 +303,9 @@ protected:
float _air_density{CONSTANTS_AIR_DENSITY_SEA_LEVEL_15C}; // air density (kg/m**3)
// Sensor limitations
float _flow_max_rate{0.0f}; ///< maximum angular flow rate that the optical flow sensor can measure (rad/s)
float _flow_max_rate{1.0f}; ///< maximum angular flow rate that the optical flow sensor can measure (rad/s)
float _flow_min_distance{0.0f}; ///< minimum distance that the optical flow sensor can operate at (m)
float _flow_max_distance{0.0f}; ///< maximum distance that the optical flow sensor can operate at (m)
float _flow_max_distance{10.f}; ///< maximum distance that the optical flow sensor can operate at (m)
// Output Predictor
outputSample _output_new{}; // filter output on the non-delayed time horizon