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ekf2: Add parameters to control output filter

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Paul Riseborough 2016-05-14 11:54:45 +09:30 committed by Lorenz Meier
parent 5f2c2f8392
commit 3aa2297497
2 changed files with 29 additions and 1 deletions
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8
src/modules/ekf2/ekf2_main.cpp
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@ -244,6 +244,10 @@ private:
control::BlockParamFloat _flow_pos_y; // Y position of optical flow sensor focal point in body frame (m)
control::BlockParamFloat _flow_pos_z; // Z position of optical flow sensor focal point in body frame (m)
// output predictor filter time constants
control::BlockParamFloat _tau_vel; // time constant used by the output velocity complementary filter (s)
control::BlockParamFloat _tau_pos; // time constant used by the output position complementary filter (s)
int update_subscriptions();
};
@ -326,7 +330,9 @@ Ekf2::Ekf2():
_rng_pos_z(this, "EKF2_RNG_POS_Z", false, &_params->rng_pos_body(2)),
_flow_pos_x(this, "EKF2_OF_POS_X", false, &_params->flow_pos_body(0)),
_flow_pos_y(this, "EKF2_OF_POS_Y", false, &_params->flow_pos_body(1)),
_flow_pos_z(this, "EKF2_OF_POS_Z", false, &_params->flow_pos_body(2))
_flow_pos_z(this, "EKF2_OF_POS_Z", false, &_params->flow_pos_body(2)),
_tau_vel(this, "EKF2_TAU_VEL", false, &_params->vel_Tau),
_tau_pos(this, "EKF2_TAU_POS", false, &_params->pos_Tau)
{
}

22
src/modules/ekf2/ekf2_params.c
View File

@ -699,3 +699,25 @@ PARAM_DEFINE_FLOAT(EKF2_OF_POS_Y, 0.0f);
* @decimal 3
*/
PARAM_DEFINE_FLOAT(EKF2_OF_POS_Z, 0.0f);
/**
* Time constant of the velocity output prediction and smoothing filter
*
* @group EKF2
* @min 0.1
* @max 1.0
* @unit s
* @decimal 2
*/
PARAM_DEFINE_FLOAT(EKF2_TAU_VEL, 0.5f);
/**
* Time constant of the position output prediction and smoothing filter
*
* @group EKF2
* @min 0.1
* @max 1.0
* @unit s
* @decimal 2
*/
PARAM_DEFINE_FLOAT(EKF2_TAU_POS, 0.25f);