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add bitmask param metadata

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This commit is contained in:
Daniel Agar
2016-07-07 12:42:59 +02:00
committed by Lorenz Meier
parent 9974b6f747
commit 4252511b8e
3 changed files with 89 additions and 20 deletions
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src/modules/ekf2/ekf2_params.c
+35 -18
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@@ -121,21 +121,30 @@ PARAM_DEFINE_FLOAT(EKF2_EV_DELAY, 175);
/**
* Integer bitmask controlling GPS checks.
*
*
* Set bits to 1 to enable checks. Checks enabled by the following bit positions
* 0 : Minimum required sat count set by EKF2_REQ_NSATS
* 1 : Minimum required GDoP set by EKF2_REQ_GDOP
* 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH
* 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV
* 4 : Maximum allowed speed error set by EKF2_REQ_SACC
* 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check can only be used if the vehciel is stationary during alignment.
* 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check can only be used if the vehciel is stationary during alignment.
* 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check can only be used if the vehciel is stationary during alignment.
* 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check can only be used if the vehicle is stationary during alignment.
* 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check can only be used if the vehicle is stationary during alignment.
* 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check can only be used if the vehicle is stationary during alignment.
* 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT
*
* @group EKF2
* @min 0
* @max 511
* @bit 0 Min sat count (EKF2_REQ_NSATS)
* @bit 1 Min GDoP (EKF2_REQ_GDOP)
* @bit 2 Max horizontal position error (EKF2_REQ_EPH)
* @bit 3 Max vertical position error (EKF2_REQ_EPV)
* @bit 4 Max speed error (EKF2_REQ_SACC)
* @bit 5 Max horizontal position rate (EKF2_REQ_HDRIFT)
* @bit 6 Max vertical position rate (EKF2_REQ_VDRIFT)
* @bit 7 Max horizontal speed (EKF2_REQ_HDRIFT)
* @bit 8 Max vertical velocity discrepancy (EKF2_REQ_VDRIFT)
*/
PARAM_DEFINE_INT32(EKF2_GPS_CHECK, 21);
@@ -365,7 +374,7 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_NOISE, 5.0e-2f);
* @unit m/s
* @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_EAS_NOISE, 1.4f);
PARAM_DEFINE_FLOAT(EKF2_EAS_NOISE, 1.4f);
/**
* Magnetic declination
@@ -402,11 +411,14 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_GATE, 3.0f);
* Set bits in the following positions to enable functions.
* 0 : Set to true to use the declination from the geo_lookup library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value.
* 1 : Set to true to save the EKF2_MAG_DECL parameter to the value returned by the EKF when the vehicle disarms.
* 2 : Set to true to always use the declination as an observaton when 3-axis magnetometer fusion is being used.
* 2 : Set to true to always use the declination as an observation when 3-axis magnetometer fusion is being used.
*
* @group EKF2
* @min 0
* @max 7
* @bit 0 use geo_lookup declination
* @bit 1 save EKF2_MAG_DECL on disarm
* @bit 2 use declination as an observation
*/
PARAM_DEFINE_INT32(EKF2_DECL_TYPE, 7);
@@ -415,7 +427,7 @@ PARAM_DEFINE_INT32(EKF2_DECL_TYPE, 7);
*
* Integer controlling the type of magnetometer fusion used - magnetic heading or 3-axis magnetometer.
* If set to automatic: heading fusion on-ground and 3-axis fusion in-flight
*
*
* @group EKF2
* @value 0 Automatic
* @value 1 Magnetic heading
@@ -484,10 +496,15 @@ PARAM_DEFINE_INT32(EKF2_REC_RPL, 0);
* 2 : Set to true to inhibit IMU bias estimation
* 3 : Set to true to enable vision position fusion
* 4 : Set to true to enable vision yaw fusion
* *
*
* @group EKF2
* @min 0
* @max 28
* @bit 0 use GPS
* @bit 1 use optical flow
* @bit 2 inhibit IMU bias estimation
* @bit 3 vision position fusion
* @bit 4 vision yaw fusion
*/
PARAM_DEFINE_INT32(EKF2_AID_MASK, 1);
@@ -782,16 +799,16 @@ PARAM_DEFINE_FLOAT(EKF2_EV_POS_Y, 0.0f);
*/
PARAM_DEFINE_FLOAT(EKF2_EV_POS_Z, 0.0f);
/**
* Airspeed fusion threshold. A value of zero will deactivate airspeed fusion. Any other positive
* value will determine the minimum airspeed which will still be fused.
*
* @group EKF2
* @min 0.0
* @unit m/s
* @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_ARSP_THR, 0.0f);
/**
* Airspeed fusion threshold. A value of zero will deactivate airspeed fusion. Any other positive
* value will determine the minimum airspeed which will still be fused.
*
* @group EKF2
* @min 0.0
* @unit m/s
* @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_ARSP_THR, 0.0f);
/**