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implemented use of optical flow for terrain estimation

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Signed-off-by: Roman <bapstroman@gmail.com>
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Roman
2019-05-15 17:16:36 +10:00
committed by Paul Riseborough
parent a27a43eafa
commit fbb51147b7
3 changed files with 115 additions and 1 deletions
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EKF/ekf.h
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@@ -315,6 +315,7 @@ private:
bool _flow_data_ready{false}; ///< true when the leading edge of the optical flow integration period has fallen behind the fusion time horizon
bool _ev_data_ready{false}; ///< true when new external vision system data has fallen behind the fusion time horizon and is available to be fused
bool _tas_data_ready{false}; ///< true when new true airspeed data has fallen behind the fusion time horizon and is available to be fused
bool _flow_for_terrain_data_ready{false}; /// same flag as "_flow_data_ready" but used for separate terrain estimator
uint64_t _time_last_fake_gps{0}; ///< last time we faked GPS position measurements to constrain tilt errors during operation without external aiding (uSec)
uint64_t _time_ins_deadreckon_start{0}; ///< amount of time we have been doing inertial only deadreckoning (uSec)
@@ -544,6 +545,9 @@ private:
// update the terrain vertical position estimate using a height above ground measurement from the range finder
void fuseHagl();
// update the terrain vertical position estimate using an optical flow measurement
void fuseFlowForTerrain();
// reset the heading and magnetic field states using the declination and magnetometer/external vision measurements
// return true if successful
bool resetMagHeading(Vector3f &mag_init, bool increase_yaw_var = true, bool update_buffer=true);