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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
2024-10-04 13:25:30 -04:00
committed by Mathieu Bresciani
parent 4215e20120
commit 9238656a33
7 changed files with 26 additions and 2 deletions
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src/modules/ekf2/EKF2.cpp
+1
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@@ -66,6 +66,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
_param_ekf2_predict_us(_params->filter_update_interval_us),
_param_ekf2_delay_max(_params->delay_max_ms),
_param_ekf2_imu_ctrl(_params->imu_ctrl),
_param_ekf2_vel_lim(_params->velocity_limit),
#if defined(CONFIG_EKF2_AUXVEL)
_param_ekf2_avel_delay(_params->auxvel_delay_ms),
#endif // CONFIG_EKF2_AUXVEL