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ekf2: update to latest ecl version [continued] (#13023)

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* ekf2: update to latest ecl version

Includes compatibility changes for renamed variables.

* ekf2: Add write of odometry velocity data

Co-Authored-By: kritz <kritz@ethz.ch>

* ekf2: Modify parameters to enable control of vision velocity fusion

* ekf2: Update to latest ecl with timestamp messages
This commit is contained in:
kritz
2019-09-26 10:21:53 +02:00
committed by Julian Kent
parent dedd257433
commit 190c817a9e
3 changed files with 65 additions and 23 deletions
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src/modules/ekf2/ekf2_params.c
+33 -14
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@@ -700,7 +700,6 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_GATE, 5.0f);
*/
PARAM_DEFINE_FLOAT(EKF2_MIN_RNG, 0.1f);
/**
* Measurement noise for vision position observations used when the vision system does not supply error estimates
*
@@ -709,7 +708,17 @@ PARAM_DEFINE_FLOAT(EKF2_MIN_RNG, 0.1f);
* @unit m
* @decimal 2
*/
PARAM_DEFINE_FLOAT(EKF2_EVP_NOISE, 0.05f);
PARAM_DEFINE_FLOAT(EKF2_EVP_NOISE, 0.1f);
/**
* Measurement noise for vision velocity observations used when the vision system does not supply error estimates
*
* @group EKF2
* @min 0.01
* @unit m/s
* @decimal 2
*/
PARAM_DEFINE_FLOAT(EKF2_EVV_NOISE, 0.1f);
/**
* Measurement noise for vision angle observations used when the vision system does not supply error estimates
@@ -721,18 +730,6 @@ PARAM_DEFINE_FLOAT(EKF2_EVP_NOISE, 0.05f);
*/
PARAM_DEFINE_FLOAT(EKF2_EVA_NOISE, 0.05f);
/**
* Gate size for vision estimate fusion
*
* Sets the number of standard deviations used by the innovation consistency test.
*
* @group EKF2
* @min 1.0
* @unit SD
* @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_EV_GATE, 5.0f);
/**
* Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum
*
@@ -1161,6 +1158,28 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_A_HMAX, 5.0f);
*/
PARAM_DEFINE_FLOAT(EKF2_RNG_A_IGATE, 1.0f);
/**
* Gate size for vision velocity estimate fusion
*
* Sets the number of standard deviations used by the innovation consistency test.
*
* @group EKF2
* @min 1.0
* @unit SD
* @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_EVV_GATE, 3.0f);
/**
* Gate size for vision position fusion
* Sets the number of standard deviations used by the innovation consistency test.
* @group EKF2
* @min 1.0
* @unit SD
* @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_EVP_GATE, 5.0f);
/**
* Specific drag force observation noise variance used by the multi-rotor specific drag force model.
* Increasing it makes the multi-rotor wind estimates adjust more slowly.