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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.hpp
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@@ -435,6 +435,8 @@ private:
_param_ekf2_rng_a_igate, ///< gate size used for innovation consistency checks for range aid fusion (STD)
(ParamExtFloat<px4::params::EKF2_RNG_QLTY_T>)
_param_ekf2_rng_qlty_t, ///< Minimum duration during which the reported range finder signal quality needs to be non-zero in order to be declared valid (s)
(ParamExtFloat<px4::params::EKF2_RNG_K_GATE>)
_param_ekf2_rng_k_gate, ///< range finder kinematic consistency gate size (STD)
// vision estimate fusion
(ParamInt<px4::params::EKF2_EV_NOISE_MD>)