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add parameter to set ground effect distance

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This commit is contained in:
Elia Tarasov
2019-03-21 10:07:12 +01:00
committed by Roman Bapst
parent 04a486f13d
commit b3bb625c71
2 changed files with 17 additions and 1 deletions
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src/modules/ekf2/ekf2_main.cpp
+4 -1
View File
@@ -339,6 +339,8 @@ private:
_baro_innov_gate, ///< barometric height innovation consistency gate size (STD) _baro_innov_gate, ///< barometric height innovation consistency gate size (STD)
(ParamExtFloat<px4::params::EKF2_GND_EFF_DZ>) (ParamExtFloat<px4::params::EKF2_GND_EFF_DZ>)
_gnd_effect_deadzone, ///< barometric deadzone range for negative innovations (m) _gnd_effect_deadzone, ///< barometric deadzone range for negative innovations (m)
(ParamExtFloat<px4::params::EKF2_GND_MAX_HGT>)
_gnd_effect_max_hgt, ///< maximum height above the ground level for expected negative baro innovations (m)
(ParamExtFloat<px4::params::EKF2_GPS_P_GATE>) (ParamExtFloat<px4::params::EKF2_GPS_P_GATE>)
_posNE_innov_gate, ///< GPS horizontal position innovation consistency gate size (STD) _posNE_innov_gate, ///< GPS horizontal position innovation consistency gate size (STD)
(ParamExtFloat<px4::params::EKF2_GPS_V_GATE>) _vel_innov_gate, ///< GPS velocity innovation consistency gate size (STD) (ParamExtFloat<px4::params::EKF2_GPS_V_GATE>) _vel_innov_gate, ///< GPS velocity innovation consistency gate size (STD)
@@ -540,6 +542,7 @@ Ekf2::Ekf2():
_baro_noise(_params->baro_noise), _baro_noise(_params->baro_noise),
_baro_innov_gate(_params->baro_innov_gate), _baro_innov_gate(_params->baro_innov_gate),
_gnd_effect_deadzone(_params->gnd_effect_deadzone), _gnd_effect_deadzone(_params->gnd_effect_deadzone),
_gnd_effect_max_hgt(_params->gnd_effect_max_hgt),
_posNE_innov_gate(_params->posNE_innov_gate), _posNE_innov_gate(_params->posNE_innov_gate),
_vel_innov_gate(_params->vel_innov_gate), _vel_innov_gate(_params->vel_innov_gate),
_tas_innov_gate(_params->tas_innov_gate), _tas_innov_gate(_params->tas_innov_gate),
@@ -1394,7 +1397,7 @@ void Ekf2::run()
} }
// update ground effect flag based on terrain estimation // update ground effect flag based on terrain estimation
if (lpos.dist_bottom_valid && lpos.dist_bottom < _gnd_effect_deadzone.get()) { if (lpos.dist_bottom_valid && lpos.dist_bottom < _gnd_effect_max_hgt.get()) {
_ekf.set_gnd_effect_flag(true); _ekf.set_gnd_effect_flag(true);
} }
src/modules/ekf2/ekf2_params.c
+13
View File
@@ -552,6 +552,19 @@ PARAM_DEFINE_FLOAT(EKF2_BARO_GATE, 5.0f);
*/ */
PARAM_DEFINE_FLOAT(EKF2_GND_EFF_DZ, 0.0f); PARAM_DEFINE_FLOAT(EKF2_GND_EFF_DZ, 0.0f);
/**
* Height above ground level for ground effect zone
*
* Sets the maximum distance to the ground level where negative baro innovations are expected.
*
* @group EKF2
* @min 0.0
* @max 5.0
* @unit M
* @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_GND_MAX_HGT, 0.5f);
/** /**
* Gate size for GPS horizontal position fusion * Gate size for GPS horizontal position fusion
* *