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EKF: Enable use of range finder for primary height source

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Paul Riseborough
2016-03-13 18:44:34 +11:00
parent 699ec17cc3
commit 370f643f42
4 changed files with 41 additions and 11 deletions
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EKF/ekf.h
+4 -2
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@@ -197,9 +197,11 @@ private:
float _gps_alt_ref; // WGS-84 height (m)
// Variables used to initialise the filter states
uint8_t _hgt_counter; // number of baro samples averaged
float _hgt_sum; // summed baro measurement
uint8_t _hgt_counter; // number of height samples averaged
uint64_t _time_last_hgt; // measurement time of last height sample
float _hgt_sum; // summed height measurement
uint8_t _mag_counter; // number of magnetometer samples averaged
uint64_t _time_last_mag; // measurement time of last magnetomter sample
Vector3f _mag_sum; // summed magnetometer measurement
Vector3f _delVel_sum; // summed delta velocity
float _hgt_at_alignment; // baro offset relative to alignment position