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EKF: Handle flow data without valid gyro data

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Paul Riseborough
2018-06-12 16:24:25 +10:00
parent 26dcf05d80
commit de7c9d85a4
6 changed files with 60 additions and 48 deletions
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EKF/ekf_helper.cpp
+2 -2
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@@ -71,8 +71,8 @@ bool Ekf::resetVelocity()
// we should have reliable OF measurements so
// calculate X and Y body relative velocities from OF measurements
Vector3f vel_optflow_body;
vel_optflow_body(0) = - range * _flow_sample_delayed.flowRadXYcomp(1) / _flow_sample_delayed.dt;
vel_optflow_body(1) = range * _flow_sample_delayed.flowRadXYcomp(0) / _flow_sample_delayed.dt;
vel_optflow_body(0) = - range * _flowRadXYcomp(1) / _flow_sample_delayed.dt;
vel_optflow_body(1) = range * _flowRadXYcomp(0) / _flow_sample_delayed.dt;
vel_optflow_body(2) = 0.0f;
// rotate from body to earth frame