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ekf2 - preflt checks: scale flow innovation checks

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Opt flow raw innovations can be really large on ground due to the small
distance to the ground (vel = flow / dist). To make the pre-flight check
more meaningful, scale it with the current distance.
This commit is contained in:
bresch
2023-07-03 13:35:44 +02:00
committed by Ramon Roche
parent 672b29d555
commit f5edff2647
3 changed files with 7 additions and 1 deletions
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src/modules/ekf2/Utility/PreFlightChecker.cpp
+1 -1
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@@ -85,7 +85,7 @@ bool PreFlightChecker::preFlightCheckHorizVelFailed(const estimator_innovations_
#if defined(CONFIG_EKF2_OPTICAL_FLOW)
if (_is_using_flow_aiding) {
const Vector2f flow_innov = Vector2f(innov.flow);
const Vector2f flow_innov = Vector2f(innov.flow) * _flow_dist_bottom;
Vector2f flow_innov_lpf;
flow_innov_lpf(0) = _filter_flow_x_innov.update(flow_innov(0), alpha, _flow_innov_spike_lim);
flow_innov_lpf(1) = _filter_flow_y_innov.update(flow_innov(1), alpha, _flow_innov_spike_lim);