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EKF: range_finder parameterize range sensor quality hysteresis time

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Signed-off-by: Claudio Micheli <claudio@auterion.com>
Co-authored-by: bresch <brescianimathieu@gmail.com>
This commit is contained in:
Claudio Micheli
2020-11-04 12:35:39 -05:00
committed by GitHub
co-authored by bresch
parent 6158d6d841
commit c4d162f9a0
4 changed files with 10 additions and 2 deletions
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EKF/sensor_range_finder.hpp
+5 -1
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@@ -83,6 +83,10 @@ public:
_rng_valid_max_val = max_distance;
}
void setQualityHysteresis(float valid_quality_threshold_s){
_quality_hyst_us = uint64_t(valid_quality_threshold_s * 1e6f);
}
float getCosTilt() const { return _cos_tilt_rng_to_earth; }
void setRange(float rng) { _sample.rng = rng; }
@@ -146,7 +150,7 @@ private:
* Quality check
*/
uint64_t _time_bad_quality_us{}; ///< timestamp at which range finder signal quality was 0 (used for hysteresis)
uint64_t _quality_hyst_us{1000000}; ///< minimum duration during which the reported range finder signal quality needs to be non-zero in order to be declared valid (us)
uint64_t _quality_hyst_us{}; ///< minimum duration during which the reported range finder signal quality needs to be non-zero in order to be declared valid (us)
};
} // namespace sensor