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ekf2: Add parameters and support for GPS quality checks

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This commit is contained in:
Paul Riseborough
2016-01-31 22:12:11 +01:00
committed by Roman
parent bfd182d12e
commit 5e4f76d844
2 changed files with 113 additions and 11 deletions
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src/modules/ekf2/ekf2_params.c
+71 -2
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@@ -81,6 +81,25 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_DELAY, 200);
*/
PARAM_DEFINE_FLOAT(EKF2_ASP_DELAY, 200);
/**
* Integer bitmask controlling GPS checks. Set bits to 1 to enable checks. Checks enabled by the following bit positions
* 0 : Minimum required sat count set by EKF2_REQ_NSATS
* 1 : Minimum required GDoP set by EKF2_REQ_GDOP
* 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH
* 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV
* 4 : Maximum allowed speed error set by EKF2_REQ_SACC
* 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check can only be used if the vehciel is stationary during alignment.
* 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check can only be used if the vehciel is stationary during alignment.
* 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check can only be used if the vehciel is stationary during alignment.
* 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT
*
* @group EKF2
* @min 0
* @max 511
* @unit
*/
PARAM_DEFINE_INT32(EKF2_GPS_CHECK, 21);
/**
* Required EPH to use GPS.
*
@@ -89,7 +108,7 @@ PARAM_DEFINE_FLOAT(EKF2_ASP_DELAY, 200);
* @max 100
* @unit m
*/
PARAM_DEFINE_FLOAT(EKF2_REQ_EPH, 10);
PARAM_DEFINE_FLOAT(EKF2_REQ_EPH, 5.0f);
/**
* Required EPV to use GPS.
@@ -99,7 +118,57 @@ PARAM_DEFINE_FLOAT(EKF2_REQ_EPH, 10);
* @max 100
* @unit m
*/
PARAM_DEFINE_FLOAT(EKF2_REQ_EPV, 20);
PARAM_DEFINE_FLOAT(EKF2_REQ_EPV, 8.0f);
/**
* Required speed accuracy to use GPS.
*
* @group EKF2
* @min 0.5
* @max 5.0
* @unit m/s
*/
PARAM_DEFINE_FLOAT(EKF2_REQ_SACC, 1.0f);
/**
* Required satellite count to use GPS.
*
* @group EKF2
* @min 4
* @max 12
* @unit
*/
PARAM_DEFINE_INT32(EKF2_REQ_NSATS, 6);
/**
* Required GDoP to use GPS.
*
* @group EKF2
* @min 1.5
* @max 5.0
* @unit
*/
PARAM_DEFINE_FLOAT(EKF2_REQ_GDOP, 2.5f);
/**
* Maximum horizontal drift speed to use GPS.
*
* @group EKF2
* @min 0.1
* @max 1.0
* @unit m/s
*/
PARAM_DEFINE_FLOAT(EKF2_REQ_HDRIFT, 0.3f);
/**
* Maximum vertical drift speed to use GPS.
*
* @group EKF2
* @min 0.1
* @max 1.5
* @unit m/s
*/
PARAM_DEFINE_FLOAT(EKF2_REQ_VDRIFT, 0.5f);
/**
* Gyro noise.