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change optical flow weight and scale

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ChristophTobler
2016-01-17 21:48:40 +01:00
committed by Lorenz Meier
parent 82be3d09d6
commit f822b136dc
1 changed files with 4 additions and 5 deletions
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src/modules/position_estimator_inav/position_estimator_inav_params.cpp
+4 -5
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@@ -161,7 +161,7 @@ PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_V, 0.0f);
* @max 10.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 9.0f);
PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 0.8f);
/**
* XY axis weight for resetting velocity
@@ -199,14 +199,13 @@ PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f);
/**
* Optical flow scale factor
*
* Factor to convert raw optical flow (in pixels) to radians [rad/px].
* Factor to scale optical flow
*
* @min 0.0
* @max 1.0
* @unit rad/px
* @max 10.0
* @group Position Estimator INAV
*/
PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.15f);
PARAM_DEFINE_FLOAT(INAV_FLOW_K, 1.35f);
/**
* Minimal acceptable optical flow quality