Commit ceaeb590 authored by asantamaria's avatar asantamaria

Range and flow2d seems to work. Range using old IROS model.

parent 3f913f5d
......@@ -29,7 +29,8 @@ range_std_insidebounds: 0.01
# Flow2d STD values
flow2d_std_outsidebounds: [10.0,10.0]
flow2d_std_insidebounds: [0.15,0.15]
flow2d_focal_length: 0.016
# Focal length in pixels
flow2d_focal_length: 73
# Initial Nominal-State vector (p,v,q,ab,wb,g)
xstate0: [0.0,0.0,0.0,0.0,0.0,0.0,1.0,0.0,0.0,0.0,0.0,0.0,0.0,-0.0005,-0.0026,-0.0004,0.0,0.0,-9.803057]
......
......@@ -308,9 +308,9 @@ void EskfOdomAlgNode::set_px4_reading(const px_comm::OpticalFlow::ConstPtr& msg,
flow << flowx, flowy;
this->alg_.lock();
this->alg_.set_px4_reading(msg_time, val, flow); // Set values into filter object
// this->alg_.set_px4_reading(msg_time, val, flow); // Set values into filter object
this->alg_.set_range_reading(msg_time, this->gnd_dist_); // Set values into filter object
// this->alg_.set_flow2d_reading(msg_time, flow); // Set values into filter object
this->alg_.set_flow2d_reading(msg_time, flow); // Set values into filter object
this->alg_.unlock();
}
......
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