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AP_OpticalFlow: Add noise to simulated sensor

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Paul Riseborough 2019-02-14 20:23:48 +11:00 committed by Andrew Tridgell
parent 8ac8c7285b
commit 9883b8757f
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_OpticalFlow/AP_OpticalFlow_SITL.cpp
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@ -91,8 +91,8 @@ void AP_OpticalFlow_SITL::update(void)
// optical rates relative to X and Y sensor axes assuming no misalignment or scale
// factor error. Note - these are instantaneous values. The sensor sums these values across the interval from the last
// poll to provide a delta angle across the interface
state.flowRate.x = -relVelSensor.y/range + gyro.x;
state.flowRate.y = relVelSensor.x/range + gyro.y;
state.flowRate.x = -relVelSensor.y/range + gyro.x + _sitl->flow_noise * rand_float();
state.flowRate.y = relVelSensor.x/range + gyro.y + _sitl->flow_noise * rand_float();
// The flow sensors body rates are assumed to be the same as the vehicle body rates (ie no misalignment)
// Note - these are instantaneous values. The sensor sums these values across the interval from the last