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ekf2: Add parameters for magnetometer error checks

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This commit is contained in:
Paul Riseborough
2016-01-31 22:12:11 +01:00
committed by Roman
parent 5e4f76d844
commit 4594b3c69d
2 changed files with 12 additions and 3 deletions
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src/modules/ekf2/ekf2_main.cpp
+3 -1
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@@ -166,6 +166,7 @@ private:
control::BlockParamFloat *_mag_heading_noise; // measurement noise used for simple heading fusion
control::BlockParamFloat *_mag_declination_deg; // magnetic declination in degrees
control::BlockParamFloat *_heading_innov_gate; // innovation gate for heading innovation test
control::BlockParamFloat *_mag_innov_gate; // innovation gate for magnetometer innovation test
control::BlockParamInt *_gps_check_mask; // bitmasked integer used to activate the different GPS quality checks
control::BlockParamFloat *_requiredEph; // maximum acceptable horiz position error (m)
@@ -216,7 +217,8 @@ Ekf2::Ekf2():
_mag_heading_noise = new control::BlockParamFloat(this, "EKF2_HEAD_NOISE", false, &params->mag_heading_noise);
_mag_declination_deg = new control::BlockParamFloat(this, "EKF2_MAG_DECL", false, &params->mag_declination_deg);
_heading_innov_gate = new control::BlockParamFloat(this, "EKF2_H_INOV_GATE", false, &params->heading_innov_gate);
_heading_innov_gate = new control::BlockParamFloat(this, "EKF2_HDG_GATE", false, &params->heading_innov_gate);
_mag_innov_gate = new control::BlockParamFloat(this, "EKF2_MAG_GATE", false, &params->mag_innov_gate);
_gps_check_mask = new control::BlockParamInt(this, "EKF2_GPS_CHECK", false, &params->gps_check_mask);
_requiredEph = new control::BlockParamFloat(this, "EKF2_REQ_EPH", false, &params->req_hacc);
src/modules/ekf2/ekf2_params.c
+9 -2
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@@ -288,8 +288,15 @@ PARAM_DEFINE_FLOAT(EKF2_HEAD_NOISE, 3e-2f);
PARAM_DEFINE_FLOAT(EKF2_MAG_DECL, 0);
/**
* Gate for maginetic heading fusion
* Gate size for magnetic heading fusion (standard deviations)
*
* @group EKF2
*/
PARAM_DEFINE_FLOAT(EKF2_H_INOV_GATE, 0.5f);
PARAM_DEFINE_FLOAT(EKF2_HDG_GATE, 3.0f);
/**
* Gate size for magnetometer XYZ component fusion (standard deviations)
*
* @group EKF2
*/
PARAM_DEFINE_FLOAT(EKF2_MAG_GATE, 3.0f);