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AP_NavEKF2: Enable simultaneous optical flow and GPS use

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Enables simultaneous use of GPS and optical flow data with automatic fallback to relative position mode if GPS is lost and automatic switch-up to absolute position status if GPS gained/re-gained.
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priseborough 2016-10-03 09:48:10 +11:00 committed by Randy Mackay
parent f135ca5ae7
commit f9018fcc1b
2 changed files with 7 additions and 3 deletions
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6
libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
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@ -178,7 +178,11 @@ void NavEKF2_core::setAidingMode()
bool flowSensorTimeout = ((imuSampleTime_ms - flowValidMeaTime_ms) > 5000); bool flowSensorTimeout = ((imuSampleTime_ms - flowValidMeaTime_ms) > 5000);
// Check if the fusion has timed out (flow measurements have been rejected for too long) // Check if the fusion has timed out (flow measurements have been rejected for too long)
bool flowFusionTimeout = ((imuSampleTime_ms - prevFlowFuseTime_ms) > 5000); bool flowFusionTimeout = ((imuSampleTime_ms - prevFlowFuseTime_ms) > 5000);
if (flowSensorTimeout || flowFusionTimeout) { // Enable switch to absolute position mode if GPS is available
// If GPS is not available and flow fusion has timed out, then fall-back to no-aiding
if((frontend->_fusionModeGPS) != 3 && readyToUseGPS() && !gpsInhibit) {
PV_AidingMode = AID_ABSOLUTE;
} else if (flowSensorTimeout || flowFusionTimeout) {
PV_AidingMode = AID_NONE; PV_AidingMode = AID_NONE;
} }
} else if (PV_AidingMode == AID_ABSOLUTE) { } else if (PV_AidingMode == AID_ABSOLUTE) {

4
libraries/AP_NavEKF2/AP_NavEKF2_OptFlowFusion.cpp
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@ -59,8 +59,8 @@ void NavEKF2_core::SelectFlowFusion()
EstimateTerrainOffset(); EstimateTerrainOffset();
} }
// Fuse optical flow data into the main filter if not excessively tilted and we are in the correct mode // Fuse optical flow data into the main filter
if (flowDataToFuse && tiltOK && PV_AidingMode == AID_RELATIVE) if (flowDataToFuse && tiltOK)
{ {
// Set the flow noise used by the fusion processes // Set the flow noise used by the fusion processes
R_LOS = sq(MAX(frontend->_flowNoise, 0.05f)); R_LOS = sq(MAX(frontend->_flowNoise, 0.05f));