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ekf2: Add parameters to control output filter

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This commit is contained in:
Paul Riseborough
2016-05-14 11:24:41 +02:00
committed by Lorenz Meier
parent 5f2c2f8392
commit 3aa2297497
2 changed files with 29 additions and 1 deletions
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src/modules/ekf2/ekf2_params.c
+22
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@@ -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);