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ekf: update parameter names for consistency (#25137)

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This commit is contained in:
Jacob Dahl
2025-07-08 10:11:28 -08:00
committed by GitHub
parent 3f5b46a68c
commit 6a8eea1df9
19 changed files with 160 additions and 178 deletions
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src/modules/ekf2/EKF2.cpp
+16 -17
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@@ -65,7 +65,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
_params(_ekf.getParamHandle()),
_param_ekf2_predict_us(_params->ekf2_predict_us),
_param_ekf2_delay_max(_params->ekf2_delay_max),
_param_ekf2_imu_ctrl(_params->imu_ctrl),
_param_ekf2_imu_ctrl(_params->ekf2_imu_ctrl),
_param_ekf2_vel_lim(_params->ekf2_vel_lim),
#if defined(CONFIG_EKF2_AUXVEL)
_param_ekf2_avel_delay(_params->ekf2_avel_delay),
@@ -142,28 +142,27 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
_param_ekf2_mag_chk_inc(_params->ekf2_mag_chk_inc),
_param_ekf2_synt_mag_z(_params->ekf2_synt_mag_z),
#endif // CONFIG_EKF2_MAGNETOMETER
_param_ekf2_hgt_ref(_params->height_sensor_ref),
_param_ekf2_hgt_ref(_params->ekf2_hgt_ref),
_param_ekf2_noaid_tout(_params->ekf2_noaid_tout),
#if defined(CONFIG_EKF2_TERRAIN) || defined(CONFIG_EKF2_OPTICAL_FLOW) || defined(CONFIG_EKF2_RANGE_FINDER)
_param_ekf2_min_rng(_params->rng_gnd_clearance),
_param_ekf2_min_rng(_params->ekf2_min_rng),
#endif // CONFIG_EKF2_TERRAIN || CONFIG_EKF2_OPTICAL_FLOW || CONFIG_EKF2_RANGE_FINDER
#if defined(CONFIG_EKF2_TERRAIN)
_param_ekf2_terr_noise(_params->terrain_p_noise),
_param_ekf2_terr_grad(_params->terrain_gradient),
_param_ekf2_terr_noise(_params->ekf2_terr_noise),
_param_ekf2_terr_grad(_params->ekf2_terr_grad),
#endif // CONFIG_EKF2_TERRAIN
#if defined(CONFIG_EKF2_RANGE_FINDER)
_param_ekf2_rng_ctrl(_params->rng_ctrl),
_param_ekf2_rng_delay(_params->range_delay_ms),
_param_ekf2_rng_noise(_params->range_noise),
_param_ekf2_rng_sfe(_params->range_noise_scaler),
_param_ekf2_rng_gate(_params->range_innov_gate),
_param_ekf2_rng_pitch(_params->rng_sens_pitch),
_param_ekf2_rng_a_vmax(_params->max_vel_for_range_aid),
_param_ekf2_rng_a_hmax(_params->max_hagl_for_range_aid),
_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_rng_fog(_params->rng_fog),
_param_ekf2_rng_ctrl(_params->ekf2_rng_ctrl),
_param_ekf2_rng_delay(_params->ekf2_rng_delay),
_param_ekf2_rng_noise(_params->ekf2_rng_noise),
_param_ekf2_rng_sfe(_params->ekf2_rng_sfe),
_param_ekf2_rng_gate(_params->ekf2_rng_gate),
_param_ekf2_rng_pitch(_params->ekf2_rng_pitch),
_param_ekf2_rng_a_vmax(_params->ekf2_rng_a_vmax),
_param_ekf2_rng_a_hmax(_params->ekf2_rng_a_hmax),
_param_ekf2_rng_qlty_t(_params->ekf2_rng_qlty_t),
_param_ekf2_rng_k_gate(_params->ekf2_rng_k_gate),
_param_ekf2_rng_fog(_params->ekf2_rng_fog),
_param_ekf2_rng_pos_x(_params->rng_pos_body(0)),
_param_ekf2_rng_pos_y(_params->rng_pos_body(1)),
_param_ekf2_rng_pos_z(_params->rng_pos_body(2)),