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ekf2: Enable adjustment of nav validity timeout

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This commit is contained in:
Paul Riseborough 2018-03-21 22:59:34 +11:00 committed by Daniel Agar
parent 89ad46dd15
commit 477a42e6f6
2 changed files with 15 additions and 1 deletions
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5
src/modules/ekf2/ekf2_main.cpp
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@ -287,6 +287,8 @@ private:
(ParamExtInt<px4::params::EKF2_AID_MASK>)
_fusion_mode, ///< bitmasked integer that selects which of the GPS and optical flow aiding sources will be used
(ParamExtInt<px4::params::EKF2_HGT_MODE>) _vdist_sensor_type, ///< selects the primary source for height data
(ParamExtInt<px4::params::EKF2_NOAID_TOUT>)
_valid_timeout_max, ///< maximum lapsed time from last fusion of measurements that constrain drift before the EKF will report the horizontal nav solution invalid (uSec)
// range finder fusion
(ParamExtFloat<px4::params::EKF2_RNG_NOISE>) _range_noise, ///< observation noise for range finder measurements (m)
@ -353,7 +355,7 @@ private:
(ParamExtFloat<px4::params::EKF2_TAU_POS>)
_tau_pos, ///< time constant used by the output position complementary filter (sec)
// IMU switch on bias paameters
// IMU switch on bias parameters
(ParamExtFloat<px4::params::EKF2_GBIAS_INIT>) _gyr_bias_init, ///< 1-sigma gyro bias uncertainty at switch on (rad/sec)
(ParamExtFloat<px4::params::EKF2_ABIAS_INIT>)
_acc_bias_init, ///< 1-sigma accelerometer bias uncertainty at switch on (m/sec**2)
@ -453,6 +455,7 @@ Ekf2::Ekf2():
_requiredVdrift(_params->req_vdrift),
_fusion_mode(_params->fusion_mode),
_vdist_sensor_type(_params->vdist_sensor_type),
_valid_timeout_max(_params->valid_timeout_max),
_range_noise(_params->range_noise),
_range_noise_scaler(_params->range_noise_scaler),
_range_innov_gate(_params->range_innov_gate),

11
src/modules/ekf2/ekf2_params.c
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@ -606,6 +606,17 @@ PARAM_DEFINE_INT32(EKF2_AID_MASK, 1);
*/
PARAM_DEFINE_INT32(EKF2_HGT_MODE, 0);
/**
* Maximum lapsed time from last fusion of measurements that constrain velocity drift before the EKF will report the horizontal nav solution as invalid.
*
* @group EKF2
* @group EKF2
* @min 500000
* @max 10000000
* @unit uSec
*/
PARAM_DEFINE_INT32(EKF2_NOAID_TOUT, 5000000);
/**
* Measurement noise for range finder fusion
*