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ekf2: Add parameter for propeller momentum drag

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This commit is contained in:
Paul Riseborough
2021-07-08 22:19:52 -04:00
committed by Daniel Agar
parent 909326e9d8
commit 2d6363e0ef
3 changed files with 22 additions and 6 deletions
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src/modules/ekf2/EKF2.hpp
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@@ -489,6 +489,7 @@ private:
_param_ekf2_drag_noise, ///< observation noise variance for drag specific force measurements (m/sec**2)**2
(ParamExtFloat<px4::params::EKF2_BCOEF_X>) _param_ekf2_bcoef_x, ///< ballistic coefficient along the X-axis (kg/m**2)
(ParamExtFloat<px4::params::EKF2_BCOEF_Y>) _param_ekf2_bcoef_y, ///< ballistic coefficient along the Y-axis (kg/m**2)
(ParamExtFloat<px4::params::EKF2_MCOEF>) _param_ekf2_mcoef, ///< propeller momentum drag coefficient (1/s)
// Corrections for static pressure position error where Ps_error = Ps_meas - Ps_truth
// Coef = Ps_error / Pdynamic, where Pdynamic = 1/2 * density * TAS**2