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AP_NavEKF2: Always perform optical flow takeoff check when receiving data

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A specialised takeoff check is now always performed when we receive new flow data as the default behaviour is to try and use flow data whenever it is received, rather than limit its use to a use to a flow-only mode of operation that had to be selected via user parameter.
This commit is contained in:
priseborough 2016-10-07 20:35:55 +11:00 committed by Randy Mackay
parent a75a383ef2
commit 5d09c78f34
1 changed files with 4 additions and 5 deletions
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9
libraries/AP_NavEKF2/AP_NavEKF2_Measurements.cpp
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@ -127,11 +127,10 @@ void NavEKF2_core::writeOptFlowMeas(uint8_t &rawFlowQuality, Vector2f &rawFlowRa
delAngBodyOF.zero();
delTimeOF = 0.0f;
}
// check for takeoff if relying on optical flow and zero measurements until takeoff detected
// if we haven't taken off - constrain position and velocity states
if (frontend->_fusionModeGPS == 3) {
detectOptFlowTakeoff();
}
// by definition if this function is called, then flow measurements have been provided so we
// need to run the optical flow takeoff detection
detectOptFlowTakeoff();
// calculate rotation matrices at mid sample time for flow observations
stateStruct.quat.rotation_matrix(Tbn_flow);
// don't use data with a low quality indicator or extreme rates (helps catch corrupt sensor data)