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range_finder_checks: parametrised signal quality hysteresis duration

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Signed-off-by: RomanBapst <bapstroman@gmail.com>
This commit is contained in:
RomanBapst
2019-10-15 14:31:32 +02:00
committed by Paul Riseborough
parent 16d1e15b51
commit 0e3a0b8659
2 changed files with 3 additions and 2 deletions
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EKF/common.h
+1
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@@ -298,6 +298,7 @@ struct parameters {
float range_aid_innov_gate{1.0f}; ///< gate size used for innovation consistency checks for range aid fusion float range_aid_innov_gate{1.0f}; ///< gate size used for innovation consistency checks for range aid fusion
float range_cos_max_tilt{0.7071f}; ///< cosine of the maximum tilt angle from the vertical that permits use of range finder and flow data float range_cos_max_tilt{0.7071f}; ///< cosine of the maximum tilt angle from the vertical that permits use of range finder and flow data
float range_stuck_threshold{0.1f}; ///< minimum variation in range finder reading required to declare a range finder 'unstuck' when readings recommence after being out of range (m) float range_stuck_threshold{0.1f}; ///< minimum variation in range finder reading required to declare a range finder 'unstuck' when readings recommence after being out of range (m)
int32_t range_signal_hysteresis_ms{1000}; ///< minimum duration during which the reported range finder signal quality needs to be non-zero in order to be declared valid (ms)
// vision position fusion // vision position fusion
float ev_vel_innov_gate{3.0f}; ///< vision velocity fusion innovation consistency gate size (STD) float ev_vel_innov_gate{3.0f}; ///< vision velocity fusion innovation consistency gate size (STD)
EKF/range_finder_checks.cpp
+2 -2
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@@ -80,7 +80,7 @@ void Ekf::updateRangeDataValidity()
if (_range_sample_delayed.quality == 0) { if (_range_sample_delayed.quality == 0) {
_time_bad_rng_signal_quality = _imu_sample_delayed.time_us; _time_bad_rng_signal_quality = _imu_sample_delayed.time_us;
_rng_hgt_valid = false; _rng_hgt_valid = false;
} else if (_imu_sample_delayed.time_us - _time_bad_rng_signal_quality > RNG_BAD_SIG_HYST) { } else if (_imu_sample_delayed.time_us - _time_bad_rng_signal_quality > (unsigned)_params.range_signal_hysteresis_ms) {
_rng_hgt_valid = true; _rng_hgt_valid = true;
} }
@@ -139,4 +139,4 @@ void Ekf::updateRangeDataStuck()
} else { } else {
_time_last_rng_ready = _range_sample_delayed.time_us; _time_last_rng_ready = _range_sample_delayed.time_us;
} }
} }