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Flow aiding - Reset state when flow is enabled only if it is the only position/velocity aiding sensor #637
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position/velocity aiding sensor. Until now, it was alway resetting if the vehicle does not have gps or external vision. This caused a reset/glitch at every stop (when range data gets valid)
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A flight with that fix: |
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This is awesome! We've seen those twitches for a while but never tracked it down. Didn't think to look for resets! |
MaEtUgR
approved these changes
Sep 2, 2019
RomanBapst
approved these changes
Sep 3, 2019
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I'm currently working on a drone with an optical flow sensor and is has a nasty attitude glitch at each stop. After analyzing the log, I found out that the vxy and xy reset counters are incremented every time the drone stops. The reset occurs at each stop because it goes in and out of flow aiding and that the condition for a reset is always true "if the vehicle doesn't have GPS or external vision aiding" (my vehicle has GPS but no EV); the correct check should be "if it doesn't have gps and doesn't have external vision aiding" or -as I implemented it here- "if flow is the only velocity/position aiding source".
Below a log showing that the reset counter is incremented every time the height source switches from baro (during motion) to range aid (after a stop).
@jkflying This should also fix the glitches you see on the Eiger