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ekf2: configurable velocity state constraint (EKF2_VEL_LIM)

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- replace hardcoded 1000 m/s velocity state constraint with new EKF2_VEL_LIM parameter (default 100 m/s)
 - new velocity limit also used for GPS checks and external vision velocity
This commit is contained in:
Daniel Agar
2024-10-07 10:35:48 +02:00
committed by Mathieu Bresciani
parent 4215e20120
commit 9238656a33
7 changed files with 26 additions and 2 deletions
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src/modules/ekf2/EKF/common.h
+2
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@@ -270,6 +270,8 @@ struct parameters {
int32_t imu_ctrl{static_cast<int32_t>(ImuCtrl::GyroBias) | static_cast<int32_t>(ImuCtrl::AccelBias)};
float velocity_limit{100.f}; ///< velocity state limit (m/s)
// measurement source control
int32_t height_sensor_ref{static_cast<int32_t>(HeightSensor::BARO)};
int32_t position_sensor_ref{static_cast<int32_t>(PositionSensor::GNSS)};