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ekf2: Add tuning parameters for GPS and Baro innovation gates

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Paul Riseborough
2016-01-31 22:12:11 +01:00
committed by Roman
parent 6ffcca4b8f
commit 92f0032475
2 changed files with 27 additions and 0 deletions
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src/modules/ekf2/ekf2_params.c
+21
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@@ -300,3 +300,24 @@ PARAM_DEFINE_FLOAT(EKF2_HDG_GATE, 3.0f);
* @group EKF2
*/
PARAM_DEFINE_FLOAT(EKF2_MAG_GATE, 3.0f);
/**
* Gate size for barometric height fusion (standard deviations)
*
* @group EKF2
*/
PARAM_DEFINE_FLOAT(EKF2_BARO_GATE, 5.0f);
/**
* Gate size for GPS horizontal position fusion (standard deviations)
*
* @group EKF2
*/
PARAM_DEFINE_FLOAT(EKF2_GPS_P_GATE, 5.0f);
/**
* Gate size for GPS velocity fusion (standard deviations)
*
* @group EKF2
*/
PARAM_DEFINE_FLOAT(EKF2_GPS_V_GATE, 3.0f);