fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-04-14 10:07:39 +08:00
Code Issues Packages Projects Releases Wiki Activity

added tas_innov_gate to params

Browse Source
This commit is contained in:
CarlOlsson 2016-05-13 10:09:14 +02:00 committed by Lorenz Meier
parent 1a992c2d02
commit 88800b9e36
2 changed files with 12 additions and 0 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
src/modules/ekf2/ekf2_main.cpp
View File

@ -189,6 +189,7 @@ private:
control::BlockParamFloat _baro_innov_gate; // innovation gate for barometric height innovation test (std dev)
control::BlockParamFloat _posNE_innov_gate; // innovation gate for GPS horizontal position innovation test (std dev)
control::BlockParamFloat _vel_innov_gate; // innovation gate for GPS velocity innovation test (std dev)
control::BlockParamFloat _tas_innov_gate; // innovation gate for tas innovation test (std dev)
control::BlockParamFloat _mag_heading_noise; // measurement noise used for simple heading fusion
control::BlockParamFloat _mag_noise; // measurement noise used for 3-axis magnetoemter fusion (Gauss)
@ -286,6 +287,7 @@ Ekf2::Ekf2():
_baro_innov_gate(this, "EKF2_BARO_GATE", false, &_params->baro_innov_gate),
_posNE_innov_gate(this, "EKF2_GPS_P_GATE", false, &_params->posNE_innov_gate),
_vel_innov_gate(this, "EKF2_GPS_V_GATE", false, &_params->vel_innov_gate),
_tas_innov_gate(this, "EKF2_TAS_GATE", false, &_params->tas_innov_gate),
_mag_heading_noise(this, "EKF2_HEAD_NOISE", false, &_params->mag_heading_noise),
_mag_noise(this, "EKF2_MAG_NOISE", false, &_params->mag_noise),
_eas_noise(this, "EKF2_EAS_NOISE", false, &_params->eas_noise),

10
src/modules/ekf2/ekf2_params.c
View File

@ -443,6 +443,16 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_P_GATE, 5.0f);
*/
PARAM_DEFINE_FLOAT(EKF2_GPS_V_GATE, 5.0f);
/**
* Gate size for TAS fusion
*
* @group EKF2
* @min 1.0
* @unit SD
* @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_TAS_GATE, 3.0f);
/**
* Replay mode
*