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ekf2: move drag fusion activation from AID_MASK to DRAG_CTRL

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bresch
2023-04-28 22:31:17 -04:00
committed by Daniel Agar
parent 8b4566b6bb
commit 39c2f95669
8 changed files with 50 additions and 11 deletions
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src/modules/ekf2/EKF/common.h
+2 -1
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@@ -162,7 +162,7 @@ enum SensorFusionMask : uint16_t {
DEPRECATED_INHIBIT_ACC_BIAS = (1<<2), ///< set to true to inhibit estimation of accelerometer delta velocity bias
DEPRECATED_USE_EXT_VIS_POS = (1<<3), ///< set to true to use external vision position data
DEPRECATED_USE_EXT_VIS_YAW = (1<<4), ///< set to true to use external vision quaternion data for yaw
USE_DRAG = (1<<5), ///< set to true to use the multi-rotor drag model to estimate wind
DEPRECATED_USE_DRAG = (1<<5), ///< set to true to use the multi-rotor drag model to estimate wind
DEPRECATED_ROTATE_EXT_VIS = (1<<6), ///< set to true to if the EV observations are in a non NED reference frame and need to be rotated before being used
DEPRECATED_USE_GPS_YAW = (1<<7), ///< set to true to use GPS yaw data if available (DEPRECATED, use gnss_ctrl)
DEPRECATED_USE_EXT_VIS_VEL = (1<<8), ///< set to true to use external vision velocity data
@@ -477,6 +477,7 @@ struct parameters {
#if defined(CONFIG_EKF2_DRAG_FUSION)
// multi-rotor drag specific force fusion
int32_t drag_ctrl{0};
float drag_noise{2.5f}; ///< observation noise variance for drag specific force measurements (m/sec**2)**2
float bcoef_x{100.0f}; ///< bluff body drag ballistic coefficient for the X-axis (kg/m**2)
float bcoef_y{100.0f}; ///< bluff body drag ballistic coefficient for the Y-axis (kg/m**2)