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ekf2: Enable tuning of terrain estimator

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This commit is contained in:
Paul Riseborough
2016-03-13 17:47:56 +01:00
committed by Lorenz Meier
parent 735f2942c8
commit 1ca857404f
2 changed files with 22 additions and 0 deletions
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src/modules/ekf2/ekf2_params.c
+18
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@@ -484,3 +484,21 @@ PARAM_DEFINE_FLOAT(EKF2_OF_GATE, 3.0f);
* @unit rad/sec
*/
PARAM_DEFINE_FLOAT(EKF2_OF_RMAX, 2.5f);
/**
* Terrain altitude process noise - accounts for instability in vehicle height estimate
*
* @group EKF2
* @min 0.5
* @unit m/sec
*/
PARAM_DEFINE_FLOAT(EKF2_TERR_NOISE, 5.0f);
/**
* Magnitude of terrain gradient
*
* @group EKF2
* @min 0.0
* @unit m/m
*/
PARAM_DEFINE_FLOAT(EKF2_TERR_GRAD, 0.5f);