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LPE vision estimation fixes. (#5505)

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This commit is contained in:
James Goppert
2016-10-01 09:02:12 -04:00
committed by GitHub
parent f6bed6f2d2
commit fe40e9cfae
10 changed files with 134 additions and 110 deletions
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src/modules/local_position_estimator/BlockLocalPositionEstimator.hpp
+7 -10
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@@ -126,7 +126,7 @@ public:
enum {U_ax = 0, U_ay, U_az, n_u};
enum {Y_baro_z = 0, n_y_baro};
enum {Y_lidar_z = 0, n_y_lidar};
enum {Y_flow_x = 0, Y_flow_y, n_y_flow};
enum {Y_flow_vx = 0, Y_flow_vy, n_y_flow};
enum {Y_sonar_z = 0, n_y_sonar};
enum {Y_gps_x = 0, Y_gps_y, Y_gps_z, Y_gps_vx, Y_gps_vy, Y_gps_vz, n_y_gps};
enum {Y_vision_x = 0, Y_vision_y, Y_vision_z, n_y_vision};
@@ -244,7 +244,8 @@ private:
struct map_projection_reference_s _map_ref;
// general parameters
BlockParamFloat _xy_pub_thresh;
BlockParamInt _pub_agl_z;
BlockParamFloat _vxy_pub_thresh;
BlockParamFloat _z_pub_thresh;
// sonar parameters
@@ -281,9 +282,11 @@ private:
BlockParamFloat _mocap_p_stddev;
// flow parameters
BlockParamInt _flow_gyro_comp;
BlockParamFloat _flow_z_offset;
BlockParamFloat _flow_xy_stddev;
BlockParamFloat _flow_xy_d_stddev;
BlockParamFloat _flow_vxy_stddev;
BlockParamFloat _flow_vxy_d_stddev;
BlockParamFloat _flow_vxy_r_stddev;
//BlockParamFloat _flow_board_x_offs;
//BlockParamFloat _flow_board_y_offs;
BlockParamInt _flow_min_q;
@@ -351,12 +354,6 @@ private:
bool _altOriginInitialized;
float _baroAltOrigin;
float _gpsAltOrigin;
Vector3f _visionOrigin;
Vector3f _mocapOrigin;
// flow integration
float _flowX;
float _flowY;
// status
bool _validXY;