ekf2: add beta innovation gate to parameters

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>
2026-10-20 08:53:37 +08:00 · 2017-12-21 04:02:10 +08:00
parent 58d1cdc733
commit 925c65b4d5
2 changed files with 14 additions and 0 deletions
@@ -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.
 *