Merge remote-tracking branch 'upstream/master' into dev_ros

Conflicts:
	.gitmodules

3 files changed, 40 insertions, 8 deletions

diff --git a/src/modules/position_estimator_inav/module.mk b/src/modules/position_estimator_inav/module.mk
index 0658d3f09..45c876299 100644
--- a/src/modules/position_estimator_inav/module.mk
+++ b/src/modules/position_estimator_inav/module.mk
@@ -41,3 +41,6 @@ SRCS		 	= position_estimator_inav_main.c \
 			inertial_filter.c
 
 MODULE_STACKSIZE = 1200
+
+EXTRACFLAGS = -Wframe-larger-than=3500
+
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c
index 4bdb4d539..6fb87ae7e 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_main.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c
@@ -152,7 +152,7 @@ int position_estimator_inav_main(int argc, char *argv[])
 		position_estimator_inav_task = task_spawn_cmd("position_estimator_inav",
 					       SCHED_DEFAULT, SCHED_PRIORITY_MAX - 5, 5000,
 					       position_estimator_inav_thread_main,
-					       (argv) ? (const char **) &argv[2] : (const char **) NULL);
+					       (argv) ? (char * const *) &argv[2] : (char * const *) NULL);
 		exit(0);
 	}
 
@@ -234,8 +234,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 
 	float eph_flow = 1.0f;
 
-	float eph_vision = 0.5f;
-	float epv_vision = 0.5f;
+	float eph_vision = 0.2f;
+	float epv_vision = 0.2f;
 
 	float x_est_prev[2], y_est_prev[2], z_est_prev[2];
 	memset(x_est_prev, 0, sizeof(x_est_prev));
@@ -641,6 +641,10 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 				if (updated) {
 					orb_copy(ORB_ID(vision_position_estimate), vision_position_estimate_sub, &vision);
 
+					static float last_vision_x = 0.0f;
+					static float last_vision_y = 0.0f;
+					static float last_vision_z = 0.0f;
+
 					/* reset position estimate on first vision update */
 					if (!vision_valid) {
 						x_est[0] = vision.x;
@@ -655,6 +659,11 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 						}
 
 						vision_valid = true;
+
+						last_vision_x = vision.x;
+						last_vision_y = vision.y;
+						last_vision_z = vision.z;
+
 						warnx("VISION estimate valid");
 						mavlink_log_info(mavlink_fd, "[inav] VISION estimate valid");
 					}
@@ -664,10 +673,30 @@ int position_estimator_inav_thread_main(int argc, char *argv[])
 					corr_vision[1][0] = vision.y - y_est[0];
 					corr_vision[2][0] = vision.z - z_est[0];
 
-					/* calculate correction for velocity */
-					corr_vision[0][1] = vision.vx - x_est[1];
-					corr_vision[1][1] = vision.vy - y_est[1];
-					corr_vision[2][1] = vision.vz - z_est[1];
+					static hrt_abstime last_vision_time = 0;
+
+					float vision_dt = (vision.timestamp_boot - last_vision_time) / 1e6f;
+					last_vision_time = vision.timestamp_boot;
+
+					if (vision_dt > 0.000001f && vision_dt < 0.2f) {
+						vision.vx = (vision.x - last_vision_x) / vision_dt;
+						vision.vy = (vision.y - last_vision_y) / vision_dt;
+						vision.vz = (vision.z - last_vision_z) / vision_dt;
+
+						last_vision_x = vision.x;
+						last_vision_y = vision.y;
+						last_vision_z = vision.z;
+
+						/* calculate correction for velocity */
+						corr_vision[0][1] = vision.vx - x_est[1];
+						corr_vision[1][1] = vision.vy - y_est[1];
+						corr_vision[2][1] = vision.vz - z_est[1];
+					} else {
+						/* assume zero motion */
+						corr_vision[0][1] = 0.0f - x_est[1];
+						corr_vision[1][1] = 0.0f - y_est[1];
+						corr_vision[2][1] = 0.0f - z_est[1];
+					}
 
 				}
 			}
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c
index cc0fb4155..b7f6509d7 100644
--- a/src/modules/position_estimator_inav/position_estimator_inav_params.c
+++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c
@@ -116,7 +116,7 @@ PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f);
  * @max 10.0
  * @group Position Estimator INAV
  */
-PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_P, 5.0f);
+PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_P, 7.0f);
 
 /**
  * XY axis weight for vision velocity