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ekf2: GPS, baro and range finder control parameters

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Also remove the legacy "range aid" than can be achieved by setting the
height reference to range finder and the range finder control parameter
to "conditional".

Conditional range aiding cal also be set when the height reference isn't
the range finder. This prevents the ratchetting effect due to switching
between references.
This commit is contained in:
bresch
2022-07-29 14:48:44 +02:00
committed by Daniel Agar
parent 578e1339ca
commit 8962cf2d25
13 changed files with 151 additions and 109 deletions
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src/modules/ekf2/EKF2.cpp
+5 -3
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@@ -106,7 +106,10 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
_param_ekf2_req_hdrift(_params->req_hdrift),
_param_ekf2_req_vdrift(_params->req_vdrift),
_param_ekf2_aid_mask(_params->fusion_mode),
_param_ekf2_hgt_mode(_params->height_sensor_ref),
_param_ekf2_hgt_ref(_params->height_sensor_ref),
_param_ekf2_baro_ctrl(_params->baro_ctrl),
_param_ekf2_gps_ctrl(_params->gnss_ctrl),
_param_ekf2_rng_ctrl(_params->rng_ctrl),
_param_ekf2_terr_mask(_params->terrain_fusion_mode),
_param_ekf2_noaid_tout(_params->valid_timeout_max),
_param_ekf2_rng_noise(_params->range_noise),
@@ -114,7 +117,6 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
_param_ekf2_rng_gate(_params->range_innov_gate),
_param_ekf2_min_rng(_params->rng_gnd_clearance),
_param_ekf2_rng_pitch(_params->rng_sens_pitch),
_param_ekf2_rng_aid(_params->range_aid),
_param_ekf2_rng_a_vmax(_params->max_vel_for_range_aid),
_param_ekf2_rng_a_hmax(_params->max_hagl_for_range_aid),
_param_ekf2_rng_a_igate(_params->range_aid_innov_gate),
@@ -292,7 +294,7 @@ void EKF2::Run()
}
// if using baro ensure sensor interval minimum is sufficient to accommodate system averaged baro output
if (_params->fusion_mode & SensorFusionMask::USE_BARO_HGT) {
if (_params->baro_ctrl == 1) {
float sens_baro_rate = 0.f;
if (param_get(param_find("SENS_BARO_RATE"), &sens_baro_rate) == PX4_OK) {