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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
2017-06-21 09:28:42 +02:00
committed by ChristophTobler
parent b5a94481a8
commit 33495e8143
2 changed files with 28 additions and 0 deletions
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src/modules/ekf2/ekf2_params.c
+24
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@@ -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);