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Update optical flow interface

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kamilritz
2020-01-24 16:18:42 +03:00
committed by Roman Bapst
parent cafb1400fb
commit f3d790a664
12 changed files with 46 additions and 57 deletions
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EKF/ekf.h
+1 -1
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@@ -429,7 +429,7 @@ private:
uint64_t _time_bad_motion_us{0}; ///< last system time that on-ground motion exceeded limits (uSec)
uint64_t _time_good_motion_us{0}; ///< last system time that on-ground motion was within limits (uSec)
bool _inhibit_flow_use{false}; ///< true when use of optical flow and range finder is being inhibited
Vector2f _flowRadXYcomp; ///< measured delta angle of the image about the X and Y body axes after removal of body rotation (rad), RH rotation is positive
Vector2f _flow_compensated_XY_rad; ///< measured delta angle of the image about the X and Y body axes after removal of body rotation (rad), RH rotation is positive
// output predictor states
Vector3f _delta_angle_corr; ///< delta angle correction vector (rad)