From f822b136dc565f11812798d1d67f9ce324ebd665 Mon Sep 17 00:00:00 2001 From: ChristophTobler Date: Sun, 17 Jan 2016 21:48:40 +0100 Subject: [PATCH] change optical flow weight and scale --- .../position_estimator_inav_params.cpp | 9 ++++----- 1 file changed, 4 insertions(+), 5 deletions(-) diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.cpp b/src/modules/position_estimator_inav/position_estimator_inav_params.cpp index 1774b16738..e77227b759 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.cpp +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.cpp @@ -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