From 92abf93c8fcae46672d19f9a0b76008c743f8027 Mon Sep 17 00:00:00 2001 From: CarlOlsson Date: Fri, 11 Mar 2016 12:47:12 +0100 Subject: [PATCH] adopted common.h --- EKF/common.h | 10 +++++++++- 1 file changed, 9 insertions(+), 1 deletion(-) diff --git a/EKF/common.h b/EKF/common.h index 8fd9d2652b..b1466f88f4 100644 --- a/EKF/common.h +++ b/EKF/common.h @@ -112,7 +112,7 @@ struct rangeSample { }; struct airspeedSample { - float airspeed; // airspeed measurement in m/s + float airspeed; // true airspeed measurement in m/s uint64_t time_us; // timestamp in microseconds }; @@ -195,6 +195,10 @@ struct parameters { int mag_declination_source; // bitmask used to control the handling of declination data int mag_fusion_type; // integer used to specify the type of magnetometer fusion used + // airspeed fusion + float tas_innov_gate; // True Airspeed Innovation consistency gate size in standard deciation [WHAT SHALL THIS VALUE BE?] + float eas_noise; // EAS measurement noise standard deviation used for airspeed fusion [m/s] + // range finder fusion float range_noise; // observation noise for range finder measurements (m) float range_innov_gate; // range finder fusion innovation consistency gate size (STD) @@ -265,6 +269,10 @@ struct parameters { mag_declination_source = 3; mag_fusion_type = 0; + // airspeed fusion + float tas_innov_gate = 3.0f; // [CHECK THIS VALUE] + float eas_noise = 1.4f; + // range finder fusion range_noise = 0.1f; range_innov_gate = 5.0f;