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Parameter update - Rename variables in modules/fw_pos_control

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using parameter_update.py script
This commit is contained in:
bresch
2019-04-03 15:38:50 +02:00
committed by Matthias Grob
parent ecacf4de46
commit f08c00f324
11 changed files with 118 additions and 118 deletions
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src/modules/local_position_estimator/sensors/flow.cpp
+6 -6
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@@ -51,7 +51,7 @@ int BlockLocalPositionEstimator::flowMeasure(Vector<float, n_y_flow> &y)
// check quality
float qual = _sub_flow.get().quality;
if (qual < _flow_min_q.get()) {
if (qual < _param_lpe_flw_qmin.get()) {
return -1;
}
@@ -64,8 +64,8 @@ int BlockLocalPositionEstimator::flowMeasure(Vector<float, n_y_flow> &y)
// optical flow in x, y axis
// TODO consider making flow scale a states of the kalman filter
float flow_x_rad = _sub_flow.get().pixel_flow_x_integral * _flow_scale.get();
float flow_y_rad = _sub_flow.get().pixel_flow_y_integral * _flow_scale.get();
float flow_x_rad = _sub_flow.get().pixel_flow_x_integral * _param_lpe_flw_scale.get();
float flow_y_rad = _sub_flow.get().pixel_flow_y_integral * _param_lpe_flw_scale.get();
float dt_flow = _sub_flow.get().integration_timespan / 1.0e6f;
if (dt_flow > 0.5f || dt_flow < 1.0e-6f) {
@@ -76,7 +76,7 @@ int BlockLocalPositionEstimator::flowMeasure(Vector<float, n_y_flow> &y)
float gyro_x_rad = 0;
float gyro_y_rad = 0;
if (_fusion.get() & FUSE_FLOW_GYRO_COMP) {
if (_param_lpe_fusion.get() & FUSE_FLOW_GYRO_COMP) {
gyro_x_rad = _flow_gyro_x_high_pass.update(
_sub_flow.get().gyro_x_rate_integral);
gyro_y_rad = _flow_gyro_y_high_pass.update(
@@ -163,8 +163,8 @@ void BlockLocalPositionEstimator::flowCorrect()
float rot_sq = euler.phi() * euler.phi() + euler.theta() * euler.theta();
R(Y_flow_vx, Y_flow_vx) = flow_vxy_stddev * flow_vxy_stddev +
_flow_r.get() * _flow_r.get() * rot_sq +
_flow_rr.get() * _flow_rr.get() * rotrate_sq;
_param_lpe_flw_r.get() * _param_lpe_flw_r.get() * rot_sq +
_param_lpe_flw_rr.get() * _param_lpe_flw_rr.get() * rotrate_sq;
R(Y_flow_vy, Y_flow_vy) = R(Y_flow_vx, Y_flow_vx);
// residual