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ekf2: Add missing tuning parameters

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This commit is contained in:
Paul Riseborough
2016-04-18 11:15:38 +02:00
committed by Lorenz Meier
parent 0d50dd03d6
commit 25dbb5d628
2 changed files with 27 additions and 0 deletions
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src/modules/ekf2/ekf2_main.cpp
+4
View File
@@ -164,6 +164,8 @@ private:
control::BlockParamFloat *_mag_delay_ms; control::BlockParamFloat *_mag_delay_ms;
control::BlockParamFloat *_baro_delay_ms; control::BlockParamFloat *_baro_delay_ms;
control::BlockParamFloat *_gps_delay_ms; control::BlockParamFloat *_gps_delay_ms;
control::BlockParamFloat *_flow_delay_ms;
control::BlockParamFloat *_rng_delay_ms;
control::BlockParamFloat *_airspeed_delay_ms; control::BlockParamFloat *_airspeed_delay_ms;
control::BlockParamFloat *_gyro_noise; control::BlockParamFloat *_gyro_noise;
@@ -264,6 +266,8 @@ Ekf2::Ekf2():
_mag_delay_ms(new control::BlockParamFloat(this, "EKF2_MAG_DELAY", false, &_params->mag_delay_ms)), _mag_delay_ms(new control::BlockParamFloat(this, "EKF2_MAG_DELAY", false, &_params->mag_delay_ms)),
_baro_delay_ms(new control::BlockParamFloat(this, "EKF2_BARO_DELAY", false, &_params->baro_delay_ms)), _baro_delay_ms(new control::BlockParamFloat(this, "EKF2_BARO_DELAY", false, &_params->baro_delay_ms)),
_gps_delay_ms(new control::BlockParamFloat(this, "EKF2_GPS_DELAY", false, &_params->gps_delay_ms)), _gps_delay_ms(new control::BlockParamFloat(this, "EKF2_GPS_DELAY", false, &_params->gps_delay_ms)),
_flow_delay_ms(new control::BlockParamFloat(this, "EKF2_OF_DELAY", false, &_params->flow_delay_ms)),
_rng_delay_ms(new control::BlockParamFloat(this, "EKF2_RNG_DELAY", false, &_params->range_delay_ms)),
_airspeed_delay_ms(new control::BlockParamFloat(this, "EKF2_ASP_DELAY", false, &_params->airspeed_delay_ms)), _airspeed_delay_ms(new control::BlockParamFloat(this, "EKF2_ASP_DELAY", false, &_params->airspeed_delay_ms)),
_gyro_noise(new control::BlockParamFloat(this, "EKF2_GYR_NOISE", false, &_params->gyro_noise)), _gyro_noise(new control::BlockParamFloat(this, "EKF2_GYR_NOISE", false, &_params->gyro_noise)),
_accel_noise(new control::BlockParamFloat(this, "EKF2_ACC_NOISE", false, &_params->accel_noise)), _accel_noise(new control::BlockParamFloat(this, "EKF2_ACC_NOISE", false, &_params->accel_noise)),
src/modules/ekf2/ekf2_params.c
+23
View File
@@ -74,6 +74,29 @@ PARAM_DEFINE_FLOAT(EKF2_BARO_DELAY, 0);
*/ */
PARAM_DEFINE_FLOAT(EKF2_GPS_DELAY, 200); PARAM_DEFINE_FLOAT(EKF2_GPS_DELAY, 200);
/**
* Optical flow measurement delay relative to IMU measurements
* Assumes measurement is timestamped at trailing edge of integration period
*
* @group EKF2
* @min 0
* @max 300
* @unit ms
* @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_OF_DELAY, 5);
/**
* Range finder measurement delay relative to IMU measurements
*
* @group EKF2
* @min 0
* @max 300
* @unit ms
* @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_RNG_DELAY, 5);
/** /**
* Airspeed measurement delay relative to IMU measurements * Airspeed measurement delay relative to IMU measurements
* *