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ekf2: new gyro bias limit parameter EKF2_GYR_B_LIM

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- default is now a more conservative 0.15 rad/s (~8.6 deg/s) instead of the previous hardcoded 20 deg/s
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Daniel Agar
2023-01-14 09:15:46 -05:00
committed by GitHub
parent 22f7d913bd
commit 674a59e48f
5 changed files with 19 additions and 1 deletions
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src/modules/ekf2/EKF/common.h
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@@ -434,6 +434,8 @@ struct parameters {
float acc_bias_learn_gyr_lim{3.0f}; ///< learning is disabled if the magnitude of the IMU angular rate vector is greater than this (rad/sec)
float acc_bias_learn_tc{0.5f}; ///< time constant used to control the decaying envelope filters applied to the accel and gyro magnitudes (sec)
float gyro_bias_lim{0.4f}; ///< maximum gyro bias magnitude (rad/sec)
const unsigned reset_timeout_max{7'000'000}; ///< maximum time we allow horizontal inertial dead reckoning before attempting to reset the states to the measurement or change _control_status if the data is unavailable (uSec)
const unsigned no_aid_timeout_max{1'000'000}; ///< maximum lapsed time from last fusion of a measurement that constrains horizontal velocity drift before the EKF will determine that the sensor is no longer contributing to aiding (uSec)
const unsigned hgt_fusion_timeout_max{5'000'000}; ///< maximum time we allow height fusion to fail before attempting a reset or stopping the fusion aiding (uSec)