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EKF2: range measurement rejection in rain/fog (#23579)

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Marco Hauswirth
2024-08-30 17:25:56 +02:00
committed by GitHub
parent 787fe9590d
commit 7dcea6b2e4
9 changed files with 106 additions and 9 deletions
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src/modules/ekf2/EKF2.cpp
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@@ -162,6 +162,7 @@ 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_rng_fog(_params->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)),