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ekf2: add param to set rng check hysteresis

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bresch
2021-01-15 11:18:32 +01:00
committed by Lorenz Meier
parent 195a900ecf
commit 983234e29d
3 changed files with 14 additions and 0 deletions
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src/modules/ekf2/EKF2.cpp
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@@ -117,6 +117,7 @@ EKF2::EKF2(bool multi_mode, const px4::wq_config_t &config, bool replay_mode):
_param_ekf2_rng_a_vmax(_params->max_vel_for_range_aid),
_param_ekf2_rng_a_hmax(_params->max_hagl_for_range_aid),
_param_ekf2_rng_a_igate(_params->range_aid_innov_gate),
_param_ekf2_rng_qlty_t(_params->range_valid_quality_s),
_param_ekf2_evv_gate(_params->ev_vel_innov_gate),
_param_ekf2_evp_gate(_params->ev_pos_innov_gate),
_param_ekf2_of_n_min(_params->flow_noise),