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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
2022-08-24 09:16:11 -04:00
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.hpp
+4 -3
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@@ -456,7 +456,10 @@ private:
// measurement source control
(ParamExtInt<px4::params::EKF2_AID_MASK>)
_param_ekf2_aid_mask, ///< bitmasked integer that selects which of the GPS and optical flow aiding sources will be used
(ParamExtInt<px4::params::EKF2_HGT_MODE>) _param_ekf2_hgt_mode, ///< selects the primary source for height data
(ParamExtInt<px4::params::EKF2_HGT_REF>) _param_ekf2_hgt_ref, ///< selects the primary source for height data
(ParamExtInt<px4::params::EKF2_BARO_CTRL>) _param_ekf2_baro_ctrl,///< barometer control selection
(ParamExtInt<px4::params::EKF2_GPS_CTRL>) _param_ekf2_gps_ctrl, ///< GPS control selection
(ParamExtInt<px4::params::EKF2_RNG_CTRL>) _param_ekf2_rng_ctrl, ///< range finder control selection
(ParamExtInt<px4::params::EKF2_TERR_MASK>)
_param_ekf2_terr_mask, ///< bitmasked integer that selects which of range finder and optical flow aiding sources will be used for terrain estimation
(ParamExtInt<px4::params::EKF2_NOAID_TOUT>)
@@ -470,8 +473,6 @@ private:
_param_ekf2_rng_gate, ///< range finder fusion innovation consistency gate size (STD)
(ParamExtFloat<px4::params::EKF2_MIN_RNG>) _param_ekf2_min_rng, ///< minimum valid value for range when on ground (m)
(ParamExtFloat<px4::params::EKF2_RNG_PITCH>) _param_ekf2_rng_pitch, ///< range sensor pitch offset (rad)
(ParamExtInt<px4::params::EKF2_RNG_AID>)
_param_ekf2_rng_aid, ///< enables use of a range finder even if primary height source is not range finder
(ParamExtFloat<px4::params::EKF2_RNG_A_VMAX>)
_param_ekf2_rng_a_vmax, ///< maximum allowed horizontal velocity for range aid (m/s)
(ParamExtFloat<px4::params::EKF2_RNG_A_HMAX>)