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ekf2: Add parameters for magnetometer error checks

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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_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);