priseborough 8d1dae3ac1 AP_NavEKF: Improve optical flow terrain height estimation ... The two state auxiliary EKF has been replaced with a single state filter that only estimates terrain offset. The new filter fuses a optical flow line of sight rate scalar (length of the optical flow LOS rate vector) which provides a terrain offset estimate that is less affected by yaw errors. Estimation of focal length scale factor error in flight wasn't accurate enough and will be replaced with a pre-flight intrinsic sensor calibration procedure as the scale factor error does not change over time provided the lens assembly is not adjusted. AP_NavEKF: Remove unwanted printf		2015-01-09 10:51:21 +11:00
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AP_NavEKF.cpp	AP_NavEKF: Improve optical flow terrain height estimation	2015-01-09 10:51:21 +11:00
AP_NavEKF.h	AP_NavEKF: Improve optical flow terrain height estimation	2015-01-09 10:51:21 +11:00