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range aid: added hysteresis for switching in and out of range aid

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- prevents rapid switching
- added innovation consistency check for using range aid

Signed-off-by: Roman <bapstroman@gmail.com>
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Roman
2017-06-15 09:10:43 +02:00
committed by ChristophTobler
parent 1b92c9b5b3
commit 39983a7d55
4 changed files with 32 additions and 13 deletions
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EKF/common.h
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@@ -260,6 +260,7 @@ struct parameters {
float max_hagl_for_range_aid{5.0f}; // maximum height above ground for which we allow to use the range finder as height source (if range_aid == 1)
float max_vel_for_range_aid{1.0f}; // maximum ground velocity for which we allow to use the range finder as height source (if range_aid == 1)
int range_aid{0}; // allow switching primary height source to range finder if certian conditions are met
float range_aid_innov_gate{1.0f}; // gate size used for innovation consistency checks for range aid fusion
// vision position fusion
float ev_innov_gate{5.0f}; // vision estimator fusion innovation consistency gate size (STD)