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EKF: Prevent bad optical flow quality causing loss of aiding when on ground

This commit is contained in:
Paul Riseborough 2017-10-11 20:59:33 +11:00
parent b7e589b98a
commit ab9b8e1964
1 changed files with 4 additions and 2 deletions
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6
EKF/estimator_interface.cpp
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@ -282,7 +282,7 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl
// check magnitude is within sensor limits // check magnitude is within sensor limits
float flow_rate_magnitude; float flow_rate_magnitude;
bool flow_magnitude_good = false; bool flow_magnitude_good = true;
if (delta_time_good) { if (delta_time_good) {
flow_rate_magnitude = flow->flowdata.norm() / delta_time; flow_rate_magnitude = flow->flowdata.norm() / delta_time;
@ -292,7 +292,9 @@ void EstimatorInterface::setOpticalFlowData(uint64_t time_usec, flow_message *fl
// check quality metric // check quality metric
bool flow_quality_good = (flow->quality >= _params.flow_qual_min); bool flow_quality_good = (flow->quality >= _params.flow_qual_min);
if (delta_time_good && flow_magnitude_good && (flow_quality_good || !_control_status.flags.in_air)) { // Always use data when on ground to allow for bad quality due to unfocussed sensors and operator handling
// If flow quality fails checks on ground, assume zero flow rate after body rate compensation
if ((delta_time_good && flow_quality_good && flow_magnitude_good) || !_control_status.flags.in_air) {
flowSample optflow_sample_new; flowSample optflow_sample_new;
// calculate the system time-stamp for the mid point of the integration period // calculate the system time-stamp for the mid point of the integration period
optflow_sample_new.time_us = time_usec - _params.flow_delay_ms * 1000 - flow->dt / 2; optflow_sample_new.time_us = time_usec - _params.flow_delay_ms * 1000 - flow->dt / 2;