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ekf2: add kconfig option to enable/disable baro compensation

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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
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src/modules/ekf2/EKF2.hpp
+2
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@@ -622,6 +622,7 @@ private:
(ParamExtFloat<px4::params::EKF2_MCOEF>) _param_ekf2_mcoef, ///< propeller momentum drag coefficient (1/s)
#endif // CONFIG_EKF2_DRAG_FUSION
#if defined(CONFIG_EKF2_BARO_COMPENSATION)
// Corrections for static pressure position error where Ps_error = Ps_meas - Ps_truth
// Coef = Ps_error / Pdynamic, where Pdynamic = 1/2 * density * TAS**2
(ParamExtFloat<px4::params::EKF2_ASPD_MAX>)
@@ -636,6 +637,7 @@ private:
_param_ekf2_pcoef_yn, ///< static pressure position error coefficient along the negative Y body axis
(ParamExtFloat<px4::params::EKF2_PCOEF_Z>)
_param_ekf2_pcoef_z, ///< static pressure position error coefficient along the Z body axis
#endif // CONFIG_EKF2_BARO_COMPENSATION
(ParamFloat<px4::params::EKF2_REQ_GPS_H>) _param_ekf2_req_gps_h, ///< Required GPS health time
(ParamExtInt<px4::params::EKF2_MAG_CHECK>) _param_ekf2_mag_check, ///< Mag field strength check