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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/estimator_interface.cpp
+1 -14
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@@ -405,20 +405,7 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl
// NOTE: the EKF uses the reverse sign convention to the flow sensor. EKF assumes positive LOS rate is produced by a RH rotation of the image about the sensor axis.
// copy the optical and gyro measured delta angles
optflow_sample_new.gyroXYZ = - flow->gyrodata;
if (flow_quality_good) {
optflow_sample_new.flowRadXY = - flow->flowdata;
} else {
// when on the ground with poor flow quality, assume zero ground relative velocity
optflow_sample_new.flowRadXY(0) = - flow->gyrodata(0);
optflow_sample_new.flowRadXY(1) = - flow->gyrodata(1);
}
// compensate for body motion to give a LOS rate
optflow_sample_new.flowRadXYcomp(0) = optflow_sample_new.flowRadXY(0) - optflow_sample_new.gyroXYZ(0);
optflow_sample_new.flowRadXYcomp(1) = optflow_sample_new.flowRadXY(1) - optflow_sample_new.gyroXYZ(1);
optflow_sample_new.flowRadXY = - flow->flowdata;
// convert integration interval to seconds
optflow_sample_new.dt = delta_time;