From 88800b9e36f235af8d01cff52bd43d99a94d3792 Mon Sep 17 00:00:00 2001 From: CarlOlsson Date: Fri, 13 May 2016 10:09:14 +0200 Subject: [PATCH] added tas_innov_gate to params --- src/modules/ekf2/ekf2_main.cpp | 2 ++ src/modules/ekf2/ekf2_params.c | 10 ++++++++++ 2 files changed, 12 insertions(+) diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index c8eddba90c..d48937ec92 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -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), diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c index aaa0785f88..d786a98724 100644 --- a/src/modules/ekf2/ekf2_params.c +++ b/src/modules/ekf2/ekf2_params.c @@ -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 *