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ekf2: Add tuneable parameters for sensor positions

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This commit is contained in:
Paul Riseborough
2016-04-18 11:12:09 +02:00
committed by Lorenz Meier
parent 7acd5fda22
commit 43e56f9fdc
2 changed files with 75 additions and 1 deletions
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src/modules/ekf2/ekf2_params.c
+48
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@@ -528,3 +528,51 @@ PARAM_DEFINE_FLOAT(EKF2_TERR_NOISE, 5.0f);
* @unit m/m
*/
PARAM_DEFINE_FLOAT(EKF2_TERR_GRAD, 0.5f);
/**
* X position of IMU in body frame
*
* @group EKF2
* @unit m
*/
PARAM_DEFINE_FLOAT(EKF2_IMU_POS_X, 0.0f);
/**
* Y position of IMU in body frame
*
* @group EKF2
* @unit m
*/
PARAM_DEFINE_FLOAT(EKF2_IMU_POS_Y, 0.0f);
/**
* Z position of IMU in body frame
*
* @group EKF2
* @unit m
*/
PARAM_DEFINE_FLOAT(EKF2_IMU_POS_Z, 0.0f);
/**
* X position of GPS antenna in body frame
*
* @group EKF2
* @unit m
*/
PARAM_DEFINE_FLOAT(EKF2_GPS_POS_X, 0.0f);
/**
* Y position of GPS antenna in body frame
*
* @group EKF2
* @unit m
*/
PARAM_DEFINE_FLOAT(EKF2_GPS_POS_Y, 0.0f);
/**
* Z position of GPS antenna in body frame
*
* @group EKF2
* @unit m
*/
PARAM_DEFINE_FLOAT(EKF2_GPS_POS_Z, 0.0f);