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ekf: make range finder kin consistency gate tunable by parameter

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bresch
2022-04-13 11:41:48 +02:00
committed by Mathieu Bresciani
parent 079a5e92ba
commit 4c03f0bc50
6 changed files with 24 additions and 2 deletions
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src/modules/ekf2/EKF2.cpp
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@@ -119,6 +119,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
_param_ekf2_rng_a_hmax(_params->max_hagl_for_range_aid),
_param_ekf2_rng_a_igate(_params->range_aid_innov_gate),
_param_ekf2_rng_qlty_t(_params->range_valid_quality_s),
_param_ekf2_rng_k_gate(_params->range_kin_consistency_gate),
_param_ekf2_evv_gate(_params->ev_vel_innov_gate),
_param_ekf2_evp_gate(_params->ev_pos_innov_gate),
_param_ekf2_of_n_min(_params->flow_noise),