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ekf2: add common height fusion timeout parameter

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bresch
2022-08-24 09:16:11 -04:00
committed by Daniel Agar
parent 52f726c5b7
commit 12e25eba62
4 changed files with 20 additions and 16 deletions
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src/modules/ekf2/EKF/common.h
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@@ -396,6 +396,7 @@ struct parameters {
const unsigned reset_timeout_max{7000000}; ///< maximum time we allow horizontal inertial dead reckoning before attempting to reset the states to the measurement or change _control_status if the data is unavailable (uSec)
const unsigned no_aid_timeout_max{1000000}; ///< maximum lapsed time from last fusion of a measurement that constrains horizontal velocity drift before the EKF will determine that the sensor is no longer contributing to aiding (uSec)
const unsigned hgt_fusion_timeout_max{5'000'000}; ///< maximum time we allow height fusion to fail before attempting a reset or stopping the fusion aiding (uSec)
int32_t valid_timeout_max{5000000}; ///< amount of time spent inertial dead reckoning before the estimator reports the state estimates as invalid (uSec)