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ekf2: Enable tuning of range finder and optical flow fusion parameters

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This commit is contained in:
Paul Riseborough
2016-03-13 17:47:56 +01:00
committed by Lorenz Meier
parent dcb47e425d
commit 735f2942c8
2 changed files with 125 additions and 4 deletions
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src/modules/ekf2/ekf2_params.c
+97 -1
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@@ -327,7 +327,7 @@ PARAM_DEFINE_FLOAT(EKF2_HDG_GATE, 3.0f);
PARAM_DEFINE_FLOAT(EKF2_MAG_GATE, 3.0f);
/**
* Integer bitmask controlling handling of magnetic declination. Set bits to in the following positions to enable functions.
* Integer bitmask controlling handling of magnetic declination. Set bits in the following positions to enable functions.
* 0 : Set to true to use the declination from the geo_lookup library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value.
* 1 : Set to true to save the EKF2_MAG_DECL parameter to the value returned by the EKF when the vehicle disarms.
* 2 : Set to true to always use the declination as an observaton when 3-axis magnetometer fusion is being used.
@@ -388,3 +388,99 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_V_GATE, 3.0f);
* @max 1
*/
PARAM_DEFINE_INT32(EKF2_REC_RPL, 0);
/**
* Integer bitmask controlling which external aiding sources will be used. Set bits in the following positions to enable:
* 0 : Set to true to use GPS data if available
* 1 : Set to true to use optical flow data if available
*
* @group EKF2
* @min 0
* @max 3
*/
PARAM_DEFINE_INT32(EKF2_AID_MASK, 1);
/**
* Determines the primary source of height data used by the EKF.
* 0 : Barometric pressure
* 1 : GPS
* 2 : Range to ground
*
* @group EKF2
* @min 0
* @max 2
*/
PARAM_DEFINE_INT32(EKF2_HGT_MODE, 0);
/**
* Measurement noise for range finder fusion
*
* @group EKF2
* @min 0.01
* @unit m
*/
PARAM_DEFINE_FLOAT(EKF2_RNG_NOISE, 0.1f);
/**
* Gate size for range finder fusion
*
* @group EKF2
* @min 1.0
* @unit SD
*/
PARAM_DEFINE_FLOAT(EKF2_RNG_GATE, 5.0f);
/**
* Minimum valid range for the range finder
*
* @group EKF2
* @min 0.01
* @unit m
*/
PARAM_DEFINE_FLOAT(EKF2_MIN_RNG, 0.1f);
/**
* Measurement noise for the optical flow sensor when it's reported quality metric is at the maximum
*
* @group EKF2
* @min 0.05
* @unit rad/sec
*/
PARAM_DEFINE_FLOAT(EKF2_OF_N_MIN, 0.15f);
/**
* Measurement noise for the optical flow sensor when it's reported quality metric is at the minimum set by EKF2_OF_QMIN
* The following condition must be met: EKF2_OF_N_MAXN >= EKF2_OF_N_MIN
*
* @group EKF2
* @min 0.05
* @unit rad/sec
*/
PARAM_DEFINE_FLOAT(EKF2_OF_N_MAX, 0.5f);
/**
* Optical Flow data will only be used if the sensor reports a quality metric >= EKF2_OF_QMIN.
*
* @group EKF2
* @min 0
* @max 255
*/
PARAM_DEFINE_INT32(EKF2_OF_QMIN, 1);
/**
* Gate size for optical flow fusion
*
* @group EKF2
* @min 1.0
* @unit SD
*/
PARAM_DEFINE_FLOAT(EKF2_OF_GATE, 3.0f);
/**
* Optical Flow data will not fused if the magnitude of the flow rate > EKF2_OF_RMAX
*
* @group EKF2
* @min 1.0
* @unit rad/sec
*/
PARAM_DEFINE_FLOAT(EKF2_OF_RMAX, 2.5f);