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ekf2: reword EKF2_GPS_CHECK param

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bresch
2024-07-16 12:05:09 +02:00
committed by Daniel Agar
parent f832ae688d
commit 81575049df
1 changed files with 12 additions and 22 deletions
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src/modules/ekf2/module.yaml
+12 -22
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@@ -125,30 +125,20 @@ parameters:
EKF2_GPS_CHECK:
description:
short: Integer bitmask controlling GPS checks
long: 'Set bits to 1 to enable checks. Checks enabled by the following bit
positions 0 : Minimum required sat count set by EKF2_REQ_NSATS 1 : Maximum
allowed PDOP set by EKF2_REQ_PDOP 2 : Maximum allowed horizontal position
error set by EKF2_REQ_EPH 3 : Maximum allowed vertical position error set
by EKF2_REQ_EPV 4 : Maximum allowed speed error set by EKF2_REQ_SACC 5 :
Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check
will only run when the vehicle is on ground and stationary. 6 : Maximum
allowed vertical position rate set by EKF2_REQ_VDRIFT. This check will only
run when the vehicle is on ground and stationary. 7 : Maximum allowed horizontal
speed set by EKF2_REQ_HDRIFT. This check will only run when the vehicle
is on ground and stationary. 8 : Maximum allowed vertical velocity discrepancy
set by EKF2_REQ_VDRIFT. 9: Fails if GPS driver detects consistent spoofing'
long: 'Each threshold value is defined by the parameter indicated next to the check.
Drift and offset checks only run when the vehicle is on ground and stationary.'
type: bitmask
bit:
0: Min sat count (EKF2_REQ_NSATS)
1: Max PDOP (EKF2_REQ_PDOP)
2: Max horizontal position error (EKF2_REQ_EPH)
3: Max vertical position error (EKF2_REQ_EPV)
4: Max speed error (EKF2_REQ_SACC)
5: Max horizontal position rate (EKF2_REQ_HDRIFT)
6: Max vertical position rate (EKF2_REQ_VDRIFT)
7: Max horizontal speed (EKF2_REQ_HDRIFT)
8: Max vertical velocity discrepancy (EKF2_REQ_VDRIFT)
9: Spoofing check
0: Sat count (EKF2_REQ_NSATS)
1: PDOP (EKF2_REQ_PDOP)
2: EPH (EKF2_REQ_EPH)
3: EPV (EKF2_REQ_EPV)
4: Speed accuracy (EKF2_REQ_SACC)
5: Horizontal position drift (EKF2_REQ_HDRIFT)
6: Vertical position drift (EKF2_REQ_VDRIFT)
7: Horizontal speed offset (EKF2_REQ_HDRIFT)
8: Vertical speed offset (EKF2_REQ_VDRIFT)
9: Spoofing
default: 1023
min: 0
max: 1023