ekf2: add kconfig option to enable/disable optical flow fusion #21338
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…errain estimator)
bresch
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Mar 21, 2023
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| _param_ekf2_terr_mask(_params->terrain_fusion_mode), | ||
| _param_ekf2_terr_noise(_params->terrain_p_noise), | ||
| _param_ekf2_terr_grad(_params->terrain_gradient), |
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What if we still want the terrain estimate using optical flow? I think those parameters should only be removed if rng and flow are disabled
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I was going to do terrain estimator separately, but at the moment EKF2_OPTICAL_FLOW depends on EKF2_RANGE_FINDER and I was thinking we should just extract the terrain estimator into a separate class anyway.
bresch
approved these changes
Mar 21, 2023
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