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ekf2: add kconfig option to enable/disable airspeed and sideslip fusion

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This commit is contained in:
Daniel Agar
2023-03-20 10:12:17 -04:00
parent 98ff1afc19
commit 4270a303ab
16 changed files with 218 additions and 83 deletions
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src/modules/ekf2/EKF/common.h
+5 -1
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@@ -307,7 +307,6 @@ struct parameters {
float mag_delay_ms{0.0f}; ///< magnetometer measurement delay relative to the IMU (mSec)
float baro_delay_ms{0.0f}; ///< barometer height measurement delay relative to the IMU (mSec)
float gps_delay_ms{110.0f}; ///< GPS measurement delay relative to the IMU (mSec)
float airspeed_delay_ms{100.0f}; ///< airspeed measurement delay relative to the IMU (mSec)
float flow_delay_ms{5.0f}; ///< optical flow measurement delay relative to the IMU (mSec) - this is to the middle of the optical flow integration interval
float range_delay_ms{5.0f}; ///< range finder measurement delay relative to the IMU (mSec)
float ev_delay_ms{175.0f}; ///< off-board vision measurement delay relative to the IMU (mSec)
@@ -364,16 +363,21 @@ struct parameters {
float gps_heading_noise{0.1f}; ///< measurement noise standard deviation used for GNSS heading fusion (rad)
#endif // CONFIG_EKF2_GNSS_YAW
#if defined(CONFIG_EKF2_AIRSPEED)
// airspeed fusion
float airspeed_delay_ms{100.0f}; ///< airspeed measurement delay relative to the IMU (mSec)
float tas_innov_gate{5.0f}; ///< True Airspeed innovation consistency gate size (STD)
float eas_noise{1.4f}; ///< EAS measurement noise standard deviation used for airspeed fusion (m/s)
float arsp_thr{2.0f}; ///< Airspeed fusion threshold. A value of zero will deactivate airspeed fusion
#endif // CONFIG_EKF2_AIRSPEED
#if defined(CONFIG_EKF2_SIDESLIP)
// synthetic sideslip fusion
int32_t beta_fusion_enabled{0};
float beta_innov_gate{5.0f}; ///< synthetic sideslip innovation consistency gate size in standard deviation (STD)
float beta_noise{0.3f}; ///< synthetic sideslip noise (rad)
const float beta_avg_ft_us{150000.0f}; ///< The average time between synthetic sideslip measurements (uSec)
#endif // CONFIG_EKF2_SIDESLIP
// range finder fusion
float range_noise{0.1f}; ///< observation noise for range finder measurements (m)