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Refactor velocity reset (#788)

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* Refactor velocity reset

* Add unit tests for velocity resets

* Expand updates to vertical buffer to velocity resets outside of resetHeight

* Improve matrix library usage

* Improve naming of vertical output samples

* Fix update of output_vert_new during reset

* Improve naming of vertical output samples 2
This commit is contained in:
kritz
2020-04-08 16:39:15 +02:00
committed by GitHub
parent 47624a0f02
commit fa5a00d871
13 changed files with 259 additions and 78 deletions
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EKF/control.cpp
+3
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@@ -496,6 +496,9 @@ void Ekf::controlOpticalFlowFusion()
// if we are not using GPS or external vision aiding, then the velocity and position states and covariances need to be set
const bool flow_aid_only = !isOtherSourceOfHorizontalAidingThan(_control_status.flags.opt_flow);
if (flow_aid_only) {
// TODO: Issue: First time we want to reset the optical flow velocity
// we will use _flow_compensated_XY_rad in the resetVelocity() function,
// but _flow_compensated_XY_rad is this zero as it gets updated for the first time below here.
resetVelocity();
resetPosition();