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ekf2: add new EKF2_EV_QMIN parameter

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Daniel Agar
2022-10-27 10:13:28 -04:00
parent 5910f8982a
commit 688dae1108
4 changed files with 18 additions and 1 deletions
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src/modules/ekf2/EKF2.cpp
+2 -1
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@@ -123,6 +123,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
_param_ekf2_rng_a_igate(_params->range_aid_innov_gate),
_param_ekf2_rng_qlty_t(_params->range_valid_quality_s),
_param_ekf2_rng_k_gate(_params->range_kin_consistency_gate),
_param_ekf2_ev_qmin(_params->ev_quality_minimum),
_param_ekf2_evv_gate(_params->ev_vel_innov_gate),
_param_ekf2_evp_gate(_params->ev_pos_innov_gate),
_param_ekf2_of_n_min(_params->flow_noise),
@@ -1846,7 +1847,7 @@ bool EKF2::UpdateExtVisionSample(ekf2_timestamps_s &ekf2_timestamps, vehicle_odo
// use timestamp from external computer, clocks are synchronized when using MAVROS
ev_data.time_us = ev_odom.timestamp_sample;
ev_data.reset_counter = ev_odom.reset_counter;
//ev_data.quality = ev_odom.quality;
ev_data.quality = ev_odom.quality;
if (new_ev_odom) {
_ekf.setExtVisionData(ev_data);