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update ecl and add param for innovation consistency checks for range aid fusion (#7585)

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ChristophTobler
2017-07-19 18:25:12 +10:00
committed by Paul Riseborough
parent 1dbac79c1b
commit 03e11c4d18
3 changed files with 19 additions and 2 deletions
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src/modules/ekf2/ekf2_params.c
+13
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@@ -1043,3 +1043,16 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_A_VMAX, 1.0f);
* @max 10.0
*/
PARAM_DEFINE_FLOAT(EKF2_RNG_A_HMAX, 5.0f);
/**
* Gate size used for innovation consistency checks for range aid fusion
*
* A lower value means HAGL needs to be more stable in order to use range finder for height estimation
* in range aid mode
*
* @group EKF2
* @unit SD
* @min 0.1
* @max 5.0
*/
PARAM_DEFINE_FLOAT(EKF2_RNG_A_IGATE, 1.0f);