Pr crazyflie optflow fix #9514
Pr crazyflie optflow fix #9514
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| param set MPC_Z_P 1.5 | ||
| param set MPC_Z_VEL_I 0.3 | ||
| param set MPC_Z_VEL_P 0.4 | ||
| param set MPC_HOLD_MAX_XY 0.1 |
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Minor suggestion, sorting these alphabetically and splitting roughly by group makes this a bit easier to read or change.
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Does the EKF handle NANs correctly already and use the onboard gyro? |
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@DanielePettenuzzo Please follow up with a 2nd PR up sorting the params. Thanks! |
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This would break the EKF if you tried to use it, I think. https://github.com/PX4/Firmware/blob/master/src/modules/ekf2/ekf2_main.cpp#L895-L897 |
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@mhkabir I'm currently cleaning up my pr for the ecl.. will open it tomorrow. I basically take the imu gyro data in the estimator interface when NAN is published. |
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Sounds good! Also you should note that it should use the delayed IMU data from the delayed time horizon the EKF is fusing the flow data at. Not the latest one pushed in the estimator interface. |
The crazyflie optical flow deck doesn't have a gyro therefore we need to use the gyro from the crazyflie's imu. This PR sets the gyro fields in the optical_flow message equal to NAN in order to understand if there is a gyro or not (to distinguish from px4flow).
Also updated crazyflie default params after several test flights.