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EKF: Add specific drag fusion tuning parameters

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This commit is contained in:
Paul Riseborough
2017-04-16 13:07:12 +02:00
committed by Lorenz Meier
parent 465b145929
commit 5cf31e439d
2 changed files with 17 additions and 12 deletions
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EKF/common.h
+10
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@@ -286,6 +286,11 @@ struct parameters {
unsigned no_aid_timeout_max; // maximum lapsed time from last fusion of measurements that constrain drift before
// the EKF will report that it is dead-reckoning (usec)
// multi-rotor drag specific force fusion
float drag_noise; // observation noise for drag specific force measurements (m/sec**2)
float bcoef_x; // ballistic coefficient along the X-axis (kg/m**2)
float bcoef_y; // ballistic coefficient along the Y-axis (kg/m**2)
// Initialize parameter values. Initialization must be accomplished in the constructor to allow C99 compiler compatibility.
parameters()
{
@@ -397,6 +402,11 @@ struct parameters {
no_gps_timeout_max = 7e6;
no_aid_timeout_max = 1e6;
// multi-rotor drag specific force fusion
drag_noise = 2.5f;
bcoef_x = 25.0f;
bcoef_y = 25.0f;
}
};