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Improvements to lpe for flow and gps. (#5401)

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This commit is contained in:
James Goppert
2016-08-27 23:50:24 -04:00
committed by GitHub
parent be1417f613
commit 6b08e8ce1f
6 changed files with 94 additions and 20 deletions
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src/modules/local_position_estimator/params.c
+23
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@@ -25,6 +25,17 @@ PARAM_DEFINE_FLOAT(LPE_FLW_OFF_Z, 0.0f);
*/
PARAM_DEFINE_FLOAT(LPE_FLW_XY, 0.01f);
/**
* Optical flow xy standard deviation linear factor on distance
*
* @group Local Position Estimator
* @unit m / m
* @min 0.01
* @max 1
* @decimal 3
*/
PARAM_DEFINE_FLOAT(LPE_FLW_XY_D, 0.01f);
/**
* Optical flow minimum quality threshold
*
@@ -285,8 +296,20 @@ PARAM_DEFINE_FLOAT(LPE_PN_V, 0.1f);
*/
PARAM_DEFINE_FLOAT(LPE_PN_B, 1e-3f);
/**
* Terrain random walk noise density, hilly/outdoor (0.1), flat/Indoor (0.001)
*
* @group Local Position Estimator
* @unit (m/s)/(sqrt(hz))
* @min 0
* @max 1
* @decimal 3
*/
PARAM_DEFINE_FLOAT(LPE_PN_T, 0.001f);
/**
* Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg)
* Used to calculate increased terrain random walk nosie due to movement.
*
* @group Local Position Estimator
* @unit %