From d4262bce2a192e8c938b3c1738f7980f5e428c25 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Fri, 27 May 2016 16:36:37 +1000 Subject: [PATCH] EKF2 output predictor update (#4606) * ekf2: Update tuning parameter documentation * ecl: update submodule reference Enables selection of a new output predictor method --- src/lib/ecl | 2 +- src/modules/ekf2/ekf2_params.c | 5 ++--- 2 files changed, 3 insertions(+), 4 deletions(-) diff --git a/src/lib/ecl b/src/lib/ecl index e3b9800cac..e2d9e19a5d 160000 --- a/src/lib/ecl +++ b/src/lib/ecl @@ -1 +1 @@ -Subproject commit e3b9800cac459e7c279395c18191a872f465f848 +Subproject commit e2d9e19a5dde27e8db0d8f838ddd614bfd4b0f1b diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c index 4837d7df89..1c09ec2320 100644 --- a/src/modules/ekf2/ekf2_params.c +++ b/src/modules/ekf2/ekf2_params.c @@ -701,10 +701,9 @@ PARAM_DEFINE_FLOAT(EKF2_OF_POS_Y, 0.0f); PARAM_DEFINE_FLOAT(EKF2_OF_POS_Z, 0.0f); /** - * Time constant of the velocity output prediction and smoothing filter + * Time constant of the velocity output prediction and smoothing filter. Controls how tightly the velocity output tracks the EKF states. Set to a negative number to disable the EKF velocity state tracking. This will cause the output velocity to track the output position time derivative. * * @group EKF2 - * @min 0.1 * @max 1.0 * @unit s * @decimal 2 @@ -712,7 +711,7 @@ PARAM_DEFINE_FLOAT(EKF2_OF_POS_Z, 0.0f); PARAM_DEFINE_FLOAT(EKF2_TAU_VEL, 0.5f); /** - * Time constant of the position output prediction and smoothing filter + * Time constant of the position output prediction and smoothing filter. Controls how tightly the output track the EKF states. * * @group EKF2 * @min 0.1