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ekf2: add param to enable synthetic mag Z fusion mode

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bresch
2021-01-17 12:06:59 +01:00
committed by Lorenz Meier
parent 983234e29d
commit eaa2ae9dc9
3 changed files with 17 additions and 0 deletions
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src/modules/ekf2/EKF2.hpp
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@@ -495,6 +495,8 @@ private:
(ParamFloat<px4::params::EKF2_REQ_GPS_H>) _param_ekf2_req_gps_h, ///< Required GPS health time
(ParamExtInt<px4::params::EKF2_MAG_CHECK>) _param_ekf2_mag_check, ///< Mag field strength check
(ParamExtInt<px4::params::EKF2_SYNT_MAG_Z>)
_param_ekf2_synthetic_mag_z, ///< Enables the use of a synthetic value for the Z axis of the magnetometer calculated from the 3D magnetic field vector at the location of the drone.
// Used by EKF-GSF experimental yaw estimator
(ParamExtFloat<px4::params::EKF2_GSF_TAS>)