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Refactoring velPos fusion

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kamilritz
2019-12-05 20:09:34 +11:00
committed by Paul Riseborough
parent 6b5f011bc2
commit 86b9079bdc
6 changed files with 423 additions and 418 deletions
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EKF/common.h
+6
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@@ -210,6 +210,12 @@ struct auxVelSample {
#define RNG_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between range finder measurements (uSec)
#define EV_MAX_INTERVAL (uint64_t)2e5 ///< Maximum allowable time interval between external vision system measurements (uSec)
// VelPos measurement bundles indices
#define HVEL 0 ///< x and y velocity bundle index
#define VVEL 1 ///< z velocity bundle index
#define HPOS 2 ///< x and y position bundle index
#define VPOS 3 ///< z position bundle index
// bad accelerometer detection and mitigation
#define BADACC_PROBATION (uint64_t)10e6 ///< Period of time that accel data declared bad must continuously pass checks to be declared good again (uSec)
#define BADACC_BIAS_PNOISE 4.9f ///< The delta velocity process noise is set to this when accel data is declared bad (m/sec**2)