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ekf2: Split static pressure correction into separate RH ad LH ellipsoids

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This commit is contained in:
Paul Riseborough
2019-03-05 07:17:09 +01:00
committed by Beat Küng
parent 1079ae3402
commit 09da8e7dfc
2 changed files with 32 additions and 10 deletions
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src/modules/ekf2/ekf2_params.c
+15 -3
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@@ -1203,15 +1203,27 @@ PARAM_DEFINE_FLOAT(EKF2_PCOEF_XN, 0.0f);
/**
* Pressure position error coefficient for the Y axis.
* This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the Y body axis.
* If the baro height estimate rises during sideways flight, then this will be a negative number.
* This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the positive Y (RH) body axis.
* If the baro height estimate rises during sideways flight to the right, then this will be a negative number.
*
* @group EKF2
* @min -0.5
* @max 0.5
* @decimal 2
*/
PARAM_DEFINE_FLOAT(EKF2_PCOEF_Y, 0.0f);
PARAM_DEFINE_FLOAT(EKF2_PCOEF_YP, 0.0f);
/**
* Pressure position error coefficient for the Y axis.
* This is the ratio of static pressure error to dynamic pressure generated by a wind relative velocity along the negative Y (LH) body axis.
* If the baro height estimate rises during sideways flight to the left, then this will be a negative number.
*
* @group EKF2
* @min -0.5
* @max 0.5
* @decimal 2
*/
PARAM_DEFINE_FLOAT(EKF2_PCOEF_YN, 0.0f);
/**
* Static pressure position error coefficient for the Z axis.