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ekf2: add beta innovation gate to parameters

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Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
This commit is contained in:
CarlOlsson
2017-12-21 04:02:10 +08:00
committed by Lorenz Meier
parent 58d1cdc733
commit 925c65b4d5
2 changed files with 14 additions and 0 deletions
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src/modules/ekf2/ekf2_main.cpp
+2
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@@ -217,6 +217,7 @@ private:
BlockParamExtFloat _mag_heading_noise; ///< measurement noise used for simple heading fusion (rad)
BlockParamExtFloat _mag_noise; ///< measurement noise used for 3-axis magnetoemeter fusion (Gauss)
BlockParamExtFloat _eas_noise; ///< measurement noise used for airspeed fusion (m/sec)
BlockParamExtFloat _beta_innov_gate; ///< synthetic sideslip innovation consistency gate size (STD)
BlockParamExtFloat _beta_noise; ///< synthetic sideslip noise (rad)
BlockParamExtFloat _mag_declination_deg;///< magnetic declination (degrees)
BlockParamExtFloat _heading_innov_gate;///< heading fusion innovation consistency gate size (STD)
@@ -361,6 +362,7 @@ Ekf2::Ekf2():
_mag_heading_noise(this, "HEAD_NOISE", true, _params->mag_heading_noise),
_mag_noise(this, "MAG_NOISE", true, _params->mag_noise),
_eas_noise(this, "EAS_NOISE", true, _params->eas_noise),
_beta_innov_gate(this, "BETA_GATE", true, _params->beta_innov_gate),
_beta_noise(this, "BETA_NOISE", true, _params->beta_noise),
_mag_declination_deg(this, "MAG_DECL", true, _params->mag_declination_deg),
_heading_innov_gate(this, "HDG_GATE", true, _params->heading_innov_gate),
src/modules/ekf2/ekf2_params.c
+12
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@@ -393,6 +393,18 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_NOISE, 5.0e-2f);
*/
PARAM_DEFINE_FLOAT(EKF2_EAS_NOISE, 1.4f);
/**
* Gate size for synthetic sideslip fusion
*
* Sets the number of standard deviations used by the innovation consistency test.
*
* @group EKF2
* @min 1.0
* @unit SD
* @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_BETA_GATE, 5.0f);
/**
* Noise for synthetic sideslip fusion.
*