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ekf2: add parameters for control of external vision fusion

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This commit is contained in:
Paul Riseborough
2016-05-28 14:54:14 +02:00
committed by Lorenz Meier
parent 2e127a4737
commit 57c1138d28
2 changed files with 90 additions and 3 deletions
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src/modules/ekf2/ekf2_params.c
+74 -3
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@@ -108,6 +108,17 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_DELAY, 5);
*/
PARAM_DEFINE_FLOAT(EKF2_ASP_DELAY, 200);
/**
* Vision Position Estimator delay relative to IMU measurements
*
* @group EKF2
* @min 0
* @max 300
* @unit ms
* @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_EV_DELAY, 175);
/**
* Integer bitmask controlling GPS checks.
*
@@ -471,10 +482,12 @@ PARAM_DEFINE_INT32(EKF2_REC_RPL, 0);
* 0 : Set to true to use GPS data if available
* 1 : Set to true to use optical flow data if available
* 2 : Set to true to inhibit IMU bias estimation
*
* 3 : Set to true to enable vision position fusion
* 4 : Set to true to enable vision yaw fusion
* *
* @group EKF2
* @min 0
* @max 15
* @max 28
*/
PARAM_DEFINE_INT32(EKF2_AID_MASK, 1);
@@ -520,6 +533,36 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_GATE, 5.0f);
*/
PARAM_DEFINE_FLOAT(EKF2_MIN_RNG, 0.1f);
/**
* Measurement noise for vision estimate fusion
*
* @group EKF2
* @min 0.01
* @unit m
* @decimal 2
*/
PARAM_DEFINE_FLOAT(EKF2_EV_NOISE, 0.05f);
/**
* Gate size for vision estimate fusion
*
* @group EKF2
* @min 1.0
* @unit SD
* @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_EV_GATE, 5.0f);
/**
* Minimum valid range for the vision estimate
*
* @group EKF2
* @min 0.01
* @unit m
* @decimal 2
*/
PARAM_DEFINE_FLOAT(EKF2_MIN_EV, 0.01f);
/**
* Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum
*
@@ -701,7 +744,35 @@ PARAM_DEFINE_FLOAT(EKF2_OF_POS_Y, 0.0f);
PARAM_DEFINE_FLOAT(EKF2_OF_POS_Z, 0.0f);
/**
* Time constant of the velocity output prediction and smoothing filter. Controls how tightly the velocity output tracks the EKF states. Set to a negative number to disable the EKF velocity state tracking. This will cause the output velocity to track the output position time derivative.
* X position of VI sensor focal point in body frame
*
* @group EKF2
* @unit m
* @decimal 3
*/
PARAM_DEFINE_FLOAT(EKF2_EV_POS_X, 0.0f);
/**
* Y position of VI sensor focal point in body frame
*
* @group EKF2
* @unit m
* @decimal 3
*/
PARAM_DEFINE_FLOAT(EKF2_EV_POS_Y, 0.0f);
/**
* Z position of VI sensor focal point in body frame
*
* @group EKF2
* @unit m
* @decimal 3
*/
PARAM_DEFINE_FLOAT(EKF2_EV_POS_Z, 0.0f);
/**
* Time constant of the velocity output prediction and smoothing filter
*
* @group EKF2
* @max 1.0