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Ekf2: Add bitmask to select terrain estimator aiding sources

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bresch
2020-03-19 20:27:39 +03:00
committed by Roman Bapst
parent e5d30c4413
commit 0f2f72a757
2 changed files with 18 additions and 0 deletions
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src/modules/ekf2/ekf2_params.c
+15
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@@ -644,6 +644,21 @@ PARAM_DEFINE_INT32(EKF2_AID_MASK, 1);
*/
PARAM_DEFINE_INT32(EKF2_HGT_MODE, 0);
/**
* Integer bitmask controlling fusion sources of the terrain estimator
*
* Set bits in the following positions to enable:
* 0 : Set to true to use range finder data if available
* 1 : Set to true to use optical flow data if available
*
* @group EKF2
* @min 0
* @max 3
* @bit 0 use range finder
* @bit 1 use optical flow
*/
PARAM_DEFINE_INT32(EKF2_TERR_MASK, 3);
/**
* Maximum lapsed time from last fusion of measurements that constrain velocity drift before the EKF will report the horizontal nav solution as invalid.
*