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ekf2: Enable use of flow sensors not fitted with gyros (#9703) 

* ecl: Update to version allowing use of flow sensors without gyros

* msg: Update description for optical_flow

Adds advice for publishing gyro rate integral message when no rate gyro is fitted.
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Paul Riseborough 2018-06-20 10:28:58 +10:00 committed by GitHub
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commit 4a0b41bbc0
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2 changed files with 4 additions and 4 deletions
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6
msg/optical_flow.msg
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@ -4,9 +4,9 @@
uint8 sensor_id # id of the sensor emitting the flow value
float32 pixel_flow_x_integral # accumulated optical flow in radians where a positive value is produced by a RH rotation about the X body axis
float32 pixel_flow_y_integral # accumulated optical flow in radians where a positive value is produced by a RH rotation about the Y body axis
float32 gyro_x_rate_integral # accumulated gyro value in radians where a positive value is produced by a RH rotation about the X body axis
float32 gyro_y_rate_integral # accumulated gyro value in radians where a positive value is produced by a RH rotation about the Y body axis
float32 gyro_z_rate_integral # accumulated gyro value in radians where a positive value is produced by a RH rotation about the Z body axis
float32 gyro_x_rate_integral # accumulated gyro value in radians where a positive value is produced by a RH rotation about the X body axis. Set to NaN if flow sensor does not have 3-axis gyro data.
float32 gyro_y_rate_integral # accumulated gyro value in radians where a positive value is produced by a RH rotation about the Y body axis. Set to NaN if flow sensor does not have 3-axis gyro data.
float32 gyro_z_rate_integral # accumulated gyro value in radians where a positive value is produced by a RH rotation about the Z body axis. Set to NaN if flow sensor does not have 3-axis gyro data.
float32 ground_distance_m # Altitude / distance to ground in meters
uint32 integration_timespan # accumulation timespan in microseconds
uint32 time_since_last_sonar_update # time since last sonar update in microseconds

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src/lib/ecl

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Subproject commit 1a1106878d6ab1cc48565bef9b25b07d626c5d0b
Subproject commit 1cba257bac94ffe7c9b48fb9ff9de73c582d68d8