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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_params.c
+14
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@@ -1326,6 +1326,20 @@ PARAM_DEFINE_FLOAT(EKF2_REQ_GPS_H, 10.0f);
*/
PARAM_DEFINE_INT32(EKF2_MAG_CHECK, 0);
/**
* Enable synthetic magnetometer Z component measurement.
*
* Use for vehicles where the measured body Z magnetic field is subject to strong magnetic interference.
* For magnetic heading fusion the magnetometer Z measurement will be replaced by a synthetic value calculated
* using the knowledge of the 3D magnetic field vector at the location of the drone. Therefore, this parameter
* will only have an effect if the global position of the drone is known.
* For 3D mag fusion the magnetometer Z measurement will simply be ingored instead of fusing the synthetic value.
*
* @group EKF2
* @boolean
*/
PARAM_DEFINE_INT32(EKF2_SYNT_MAG_Z, 0);
/**
* Default value of true airspeed used in EKF-GSF AHRS calculation.
* If no airspeed measurements are avalable, the EKF-GSF AHRS calculation will assume this value of true airspeed when compensating for centripetal acceleration during turns. Set to zero to disable centripetal acceleration compensation during fixed wing flight modes.