fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-10-23 05:43:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: add kconfig option to enable/disable baro compensation

Browse Source
This commit is contained in:
Daniel Agar
2023-03-20 10:12:17 -04:00
parent fe0e3acf09
commit 8b2205810b
6 changed files with 16 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/EKF/common.h
+2
View File
@@ -438,6 +438,7 @@ struct parameters {
int32_t valid_timeout_max{5'000'000}; ///< amount of time spent inertial dead reckoning before the estimator reports the state estimates as invalid (uSec)
#if defined(CONFIG_EKF2_BARO_COMPENSATION)
// static barometer pressure position error coefficient along body axes
float static_pressure_coef_xp{0.0f}; // (-)
float static_pressure_coef_xn{0.0f}; // (-)
@@ -447,6 +448,7 @@ struct parameters {
// upper limit on airspeed used for correction (m/s**2)
float max_correction_airspeed {20.0f};
#endif // CONFIG_EKF2_BARO_COMPENSATION
#if defined(CONFIG_EKF2_DRAG_FUSION)
// multi-rotor drag specific force fusion