fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-09 02:41:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: move flow fusion activation from AID_MASK to OF_CTRL

Browse Source
This commit is contained in:
bresch
2023-04-28 22:31:17 -04:00
committed by Daniel Agar
parent 39c2f95669
commit 2a2e43b620
7 changed files with 45 additions and 8 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/ekf2_params.c
+12 -2
View File
@@ -614,7 +614,7 @@ PARAM_DEFINE_FLOAT(EKF2_TAS_GATE, 3.0f);
*
* Set bits in the following positions to enable:
* 0 : Deprecated, use EKF2_GPS_CTRL instead
* 1 : Set to true to use optical flow data if available
* 1 : Deprecated. use EKF2_OF_CTRL instead
* 2 : Deprecated, use EKF2_IMU_CTRL instead
* 3 : Deprecated, use EKF2_EV_CTRL instead
* 4 : Deprecated, use EKF2_EV_CTRL instead
@@ -627,7 +627,7 @@ PARAM_DEFINE_FLOAT(EKF2_TAS_GATE, 3.0f);
* @min 0
* @max 511
* @bit 0 unused
* @bit 1 use optical flow
* @bit 1 unused
* @bit 2 unused
* @bit 3 unused
* @bit 4 unused
@@ -867,6 +867,16 @@ PARAM_DEFINE_FLOAT(EKF2_EVA_NOISE, 0.1f);
*/
PARAM_DEFINE_FLOAT(EKF2_GRAV_NOISE, 1.0f);
/**
* Optical flow aiding
*
* Enable optical flow fusion.
*
* @group EKF2
* @boolean
*/
PARAM_DEFINE_INT32(EKF2_OF_CTRL, 0);
/**
* Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum
*