Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Jump to bottom

[RELEASE/1.14] Opt flow fixes #21844

Merged
merged 7 commits into from
Jul 17, 2023
Merged

[RELEASE/1.14] Opt flow fixes #21844

merged 7 commits into from
Jul 17, 2023

Commits on Jul 12, 2023

  1. actual fixes for velocity estimate errors and bad rng fusion

    @mjturi-mai @bresch
    mjturi-mai authored and bresch committed Jul 12, 2023
    Configuration menu
    Copy the full SHA
    0231d7f View commit details
    Browse the repository at this point in the history

  2. Cleaned up some comments and debug code

    @katzfey @bresch
    katzfey authored and bresch committed Jul 12, 2023
    Configuration menu
    Copy the full SHA
    3c876c8 View commit details
    Browse the repository at this point in the history

  3. Removed the huge HAGL fuse timeout increase

    @katzfey @bresch
    katzfey authored and bresch committed Jul 12, 2023
    Configuration menu
    Copy the full SHA
    472c1dc View commit details
    Browse the repository at this point in the history

  4. Apply code review changes from @dagar

    @AlexKlimaj @bresch
    AlexKlimaj authored and bresch committed Jul 12, 2023
    Configuration menu
    Copy the full SHA
    8630a41 View commit details
    Browse the repository at this point in the history

  5. Add EKF2_OF_QMIN_GND to handle 0 optical flow quality when on ground

    @AlexKlimaj @bresch
    AlexKlimaj authored and bresch committed Jul 12, 2023
    Configuration menu
    Copy the full SHA
    bae9001 View commit details
    Browse the repository at this point in the history

  6. ekf2: report dist bottom also when using flow for terrain 

    Terrain height can be estimated using a range finder and/or optical flow
    @bresch
    bresch committed Jul 12, 2023
    Configuration menu
    Copy the full SHA
    104c069 View commit details
    Browse the repository at this point in the history

  7. ekf2 - preflt checks: scale flow innovation checks 

    Opt flow raw innovations can be really large on ground due to the small
distance to the ground (vel = flow / dist). To make the pre-flight check
more meaningful, scale it with the current distance.
    @bresch
    bresch committed Jul 12, 2023
    Configuration menu
    Copy the full SHA
    a796e7a View commit details
    Browse the repository at this point in the history