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add parameter to enable/disable ground effect zone

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Elia Tarasov
2019-03-21 10:07:12 +01:00
committed by Roman Bapst
parent ecc8a696d0
commit 5fa0a647e5
2 changed files with 30 additions and 1 deletions
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src/modules/ekf2/ekf2_params.c
+23
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@@ -538,6 +538,29 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_YAWLIM, 0.25f);
*/
PARAM_DEFINE_FLOAT(EKF2_BARO_GATE, 5.0f);
/**
* Boolean determining if barometer deadzone near ground should be accounted.
*
* A value of 1 indicates that deadzone is active
*
* @group EKF2
* @boolean
*/
PARAM_DEFINE_INT32(EKF2_GND_EFF_EN, 0);
/**
* Baro deadzone range for height fusion
*
* Sets the value of deadzone applied to negative baro innovations when ground effect compensation is active
*
* @group EKF2
* @min 0.5
* @max 10.0
* @unit M
* @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_GND_EFF_DZ, 5.0f);
/**
* Gate size for GPS horizontal position fusion
*