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ekf: use PDOP instead of GDOP as TDOP (part of GDOP) is not given by the GNSS receiver

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bresch
2019-11-27 10:33:27 +01:00
committed by Mathieu Bresciani
parent 20705e3c53
commit 09c8c8f706
7 changed files with 22 additions and 23 deletions
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src/modules/ekf2/ekf2_params.c
+4 -4
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@@ -153,7 +153,7 @@ PARAM_DEFINE_FLOAT(EKF2_AVEL_DELAY, 5);
*
* Set bits to 1 to enable checks. Checks enabled by the following bit positions
* 0 : Minimum required sat count set by EKF2_REQ_NSATS
* 1 : Minimum required GDoP set by EKF2_REQ_GDOP
* 1 : Minimum required PDOP set by EKF2_REQ_PDOP
* 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH
* 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV
* 4 : Maximum allowed speed error set by EKF2_REQ_SACC
@@ -166,7 +166,7 @@ PARAM_DEFINE_FLOAT(EKF2_AVEL_DELAY, 5);
* @min 0
* @max 511
* @bit 0 Min sat count (EKF2_REQ_NSATS)
* @bit 1 Min GDoP (EKF2_REQ_GDOP)
* @bit 1 Min PDOP (EKF2_REQ_PDOP)
* @bit 2 Max horizontal position error (EKF2_REQ_EPH)
* @bit 3 Max vertical position error (EKF2_REQ_EPV)
* @bit 4 Max speed error (EKF2_REQ_SACC)
@@ -220,14 +220,14 @@ PARAM_DEFINE_FLOAT(EKF2_REQ_SACC, 0.5f);
PARAM_DEFINE_INT32(EKF2_REQ_NSATS, 6);
/**
* Required GDoP to use GPS.
* Required PDOP to use GPS.
*
* @group EKF2
* @min 1.5
* @max 5.0
* @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_REQ_GDOP, 2.5f);
PARAM_DEFINE_FLOAT(EKF2_REQ_PDOP, 2.5f);
/**
* Maximum horizontal drift speed to use GPS.