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ekf2: added parameters to specify horizontal speed and absolute altitude

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thresholds for range aid mode

Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman 2017-04-20 08:34:40 +02:00 committed by ChristophTobler
parent b5a94481a8
commit 33495e8143
2 changed files with 28 additions and 0 deletions
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4
src/modules/ekf2/ekf2_main.cpp
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@ -265,6 +265,8 @@ private:
control::BlockParamExtFloat _rng_pitch_offset; // range sensor pitch offset (rad)
control::BlockParamExtInt
_rng_aid; // enables use of a range finder even if primary height source is not range finder (EKF2_HGT_MODE != 2)
control::BlockParamExtFloat _rng_aid_hor_vel_max; // maximum allowed horizontal velocity for range aid
control::BlockParamExtFloat _rng_aid_height_max; // maximum allowed absolute altitude (AGL) for range aid
// vision estimate fusion
control::BlockParamExtFloat _ev_pos_noise; // default position observation noise for exernal vision measurements (m)
@ -396,6 +398,8 @@ Ekf2::Ekf2():
_rng_gnd_clearance(this, "EKF2_MIN_RNG", false, _params->rng_gnd_clearance),
_rng_pitch_offset(this, "EKF2_RNG_PITCH", false, _params->rng_sens_pitch),
_rng_aid(this, "EKF2_RNG_AID", false, _params->range_aid),
_rng_aid_hor_vel_max(this, "EKF2_RNG_A_VMAX", false, _params->max_vel_for_range_aid),
_rng_aid_height_max(this, "EKF2_RNG_A_HMAX", false, _params->max_hagl_for_range_aid),
_ev_pos_noise(this, "EKF2_EVP_NOISE", false, _default_ev_pos_noise),
_ev_ang_noise(this, "EKF2_EVA_NOISE", false, _default_ev_ang_noise),
_ev_innov_gate(this, "EKF2_EV_GATE", false, _params->ev_innov_gate),

24
src/modules/ekf2/ekf2_params.c
View File

@ -1007,3 +1007,27 @@ PARAM_DEFINE_FLOAT(EKF2_MAGB_K, 0.2f);
* @value 1 Range aid enabled
*/
PARAM_DEFINE_INT32(EKF2_RNG_AID, 0.0f);
/**
* Maximum horizontal velocity allowed for range aid mode.
*
* If the vehicle horizontal speed exceeds this value then the estimator will not fuse range measurements
* to estimate it's height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled).
*
* @group EKF2
* @min 0.1
* @max 2
*/
PARAM_DEFINE_FLOAT(EKF2_RNG_A_VMAX, 1.0f);
/**
* Maximum absolute altitude (height above ground level) allowed for range aid mode.
*
* If the vehicle absolute altitude exceeds this value then the estimator will not fuse range measurements
* to estimate it's height. This only applies when range aid mode is activated (EKF2_RNG_AID = enabled).
*
* @group EKF2
* @min 1.0
* @max 10.0
*/
PARAM_DEFINE_FLOAT(EKF2_RNG_A_HMAX, 5.0f);