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Move baro downsampling and dynamic pressure comp to ECL

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kamilritz
2020-01-21 10:09:48 +03:00
committed by Roman Bapst
parent d7d7b56519
commit 29c5954690
5 changed files with 62 additions and 6 deletions
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EKF/common.h
+10 -1
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@@ -342,6 +342,15 @@ struct parameters {
int32_t valid_timeout_max{5000000}; ///< amount of time spent inertial dead reckoning before the estimator reports the state estimates as invalid (uSec)
// static barometer pressure position error coefficient along body axes
float static_pressure_coef_xp {0.0f};
float static_pressure_coef_xn {0.0f};
float static_pressure_coef_yp {0.0f};
float static_pressure_coef_yn {0.0f};
float static_pressure_coef_z {0.0f};
// upper limit on airspeed used for correction (m/s**2)
float max_correction_airspeed {20.0f};
// multi-rotor drag specific force fusion
float drag_noise{2.5f}; ///< observation noise variance for drag specific force measurements (m/sec**2)**2
float bcoef_x{25.0f}; ///< ballistic coefficient along the X-axis (kg/m**2)
@@ -371,7 +380,7 @@ struct stateSample {
Vector3f delta_vel_bias; ///< delta velocity bias estimate in m/s
Vector3f mag_I; ///< NED earth magnetic field in gauss
Vector3f mag_B; ///< magnetometer bias estimate in body frame in gauss
Vector2f wind_vel; ///< wind velocity in m/s
Vector2f wind_vel; ///< horizontal wind velocity in earth frame in m/s
};
union fault_status_u {