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ekf2: Enable position of range finder and flow sensor to be adjusted

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This commit is contained in:
Paul Riseborough
2016-04-18 11:15:38 +02:00
committed by Lorenz Meier
parent 66fe3ab583
commit 81292c1e65
1 changed files with 48 additions and 0 deletions
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src/modules/ekf2/ekf2_params.c
+48
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@@ -576,3 +576,51 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_POS_Y, 0.0f);
* @unit m
*/
PARAM_DEFINE_FLOAT(EKF2_GPS_POS_Z, 0.0f);
/**
* X position of range finder origin in body frame
*
* @group EKF2
* @unit m
*/
PARAM_DEFINE_FLOAT(EKF2_RNG_POS_X, 0.0f);
/**
* Y position of range finder origin in body frame
*
* @group EKF2
* @unit m
*/
PARAM_DEFINE_FLOAT(EKF2_RNG_POS_Y, 0.0f);
/**
* Z position of range finder origin in body frame
*
* @group EKF2
* @unit m
*/
PARAM_DEFINE_FLOAT(EKF2_RNG_POS_Z, 0.0f);
/**
* X position of optical flow focal point in body frame
*
* @group EKF2
* @unit m
*/
PARAM_DEFINE_FLOAT(EKF2_OF_POS_X, 0.0f);
/**
* Y position of optical flow focal point in body frame
*
* @group EKF2
* @unit m
*/
PARAM_DEFINE_FLOAT(EKF2_OF_POS_Y, 0.0f);
/**
* Z position of optical flow focal point in body frame
*
* @group EKF2
* @unit m
*/
PARAM_DEFINE_FLOAT(EKF2_OF_POS_Z, 0.0f);