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px4-firmware
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EKF: update comments

This commit is contained in:
Paul Riseborough 2018-04-19 16:43:58 +10:00
parent 82de3141f0
commit f9d4934db6
1 changed files with 5 additions and 4 deletions
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9
EKF/control.cpp
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@ -337,8 +337,9 @@ void Ekf::controlExternalVisionFusion()
void Ekf::controlOpticalFlowFusion()
{
// Detect if the vehicle is on the ground and is being excessively tilted, shaken or rotated.
// Check if motion is un-suitable for use of optical flow
if (!_control_status.flags.in_air) {
// Detect if the vehicle is on the ground and is being excessively tilted, shaken or rotated.
bool motion_is_excessive = ((_accel_mag_filt > 10.8f)
|| (_accel_mag_filt < 8.8f)
|| (_ang_rate_mag_filt > 0.5f)
@ -352,16 +353,16 @@ void Ekf::controlOpticalFlowFusion()
}
} else {
// inhibit flow use if GPS quality is good and we are not using range aiding
// this enables use of optical flow to improve station keeping when low and slow
if (_control_status.flags.gps && (_time_last_imu - _last_gps_fail_us > (uint64_t)5e6) && !_in_range_aid_mode) {
// Detect the special case where we are in flight, are using good quality GPS and speed and range has exceeded
// limits for use of range finder for height
_time_bad_motion_us = _imu_sample_delayed.time_us;
} else {
_time_good_motion_us = _imu_sample_delayed.time_us;
}
}
// Inhibit flow use if on ground and motion is excessive
// Inhibit flow use if motion is un-suitable
// Apply a time based hysteresis to prevent rapid mode switching
if (!_inhibit_gndobs_use) {
if ((_imu_sample_delayed.time_us - _time_good_motion_us) > (uint64_t)1E5) {