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ekf2: Use parameter defined values for EV noise if vision system estimates not available

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This commit is contained in:
Paul Riseborough
2016-05-28 14:54:14 +02:00
committed by Lorenz Meier
parent 26d81418fa
commit ac50510c78
2 changed files with 46 additions and 25 deletions
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src/modules/ekf2/ekf2_params.c
+12 -2
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@@ -535,14 +535,24 @@ PARAM_DEFINE_FLOAT(EKF2_MIN_RNG, 0.1f);
/**
* Measurement noise for vision estimate fusion
* Measurement noise for vision position observations used when the vision system does not supply error estimates
*
* @group EKF2
* @min 0.01
* @unit m
* @decimal 2
*/
PARAM_DEFINE_FLOAT(EKF2_EV_NOISE, 0.05f);
PARAM_DEFINE_FLOAT(EKF2_EVP_NOISE, 0.05f);
/**
* Measurement noise for vision angle observations used when the vision system does not supply error estimates
*
* @group EKF2
* @min 0.01
* @unit rad
* @decimal 2
*/
PARAM_DEFINE_FLOAT(EKF2_EVA_NOISE, 0.05f);
/**
* Gate size for vision estimate fusion