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ekf2_params: added range aid parameter

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman 2017-04-06 11:40:32 +02:00 committed by ChristophTobler
parent 355205554a
commit 68c2eb9dec
1 changed files with 13 additions and 0 deletions
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13
src/modules/ekf2/ekf2_params.c
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@ -994,3 +994,16 @@ PARAM_DEFINE_FLOAT(EKF2_MAGB_VREF, 2.5E-7f);
* @decimal 2
*/
PARAM_DEFINE_FLOAT(EKF2_MAGB_K, 0.2f);
/**
* Range sensor aid.
*
* If this parameter is enabled then the estimator will make use of the range finder measurements
* to estimate it's height even if range sensor is not the primary height source. It will only do so if conditions
* for range measurement fusion are met.
*
* @group EKF2
* @value 0 Range aid disabled
* @value 1 Range aid enabled
*/
PARAM_DEFINE_INT32(EKF2_RNG_AID, 0.0f);