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ekf2: organize aid source parameters

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This commit is contained in:
Daniel Agar 2024-08-21 13:58:14 -04:00
parent ee022a70c1
commit ebbd2c1825
16 changed files with 1146 additions and 1075 deletions
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21
src/modules/ekf2/CMakeLists.txt
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@ -111,6 +111,7 @@ if(EKF2_SYMFORCE_GEN AND (${PYTHON_SYMFORCE_EXIT_CODE} EQUAL 0))
)
endif()
set(EKF_MODULE_PARAMS)
set(EKF_LIBS)
set(EKF_SRCS)
list(APPEND EKF_SRCS
@ -135,24 +136,27 @@ list(APPEND EKF_SRCS
if(CONFIG_EKF2_AIRSPEED)
list(APPEND EKF_SRCS EKF/aid_sources/airspeed/airspeed_fusion.cpp)
list(APPEND EKF_MODULE_PARAMS params_airspeed.yaml)
endif()
if(CONFIG_EKF2_AUX_GLOBAL_POSITION)
list(APPEND EKF_SRCS EKF/aid_sources/aux_global_position/aux_global_position.cpp)
list(APPEND EKF_MODULE_PARAMS params_aux_global_position.yaml)
endif()
if(CONFIG_EKF2_AUXVEL)
list(APPEND EKF_SRCS EKF/aid_sources/auxvel/auxvel_fusion.cpp)
list(APPEND EKF_MODULE_PARAMS params_aux_velocity.yaml)
endif()
if(CONFIG_EKF2_BAROMETER)
list(APPEND EKF_SRCS
EKF/aid_sources/barometer/baro_height_control.cpp
)
list(APPEND EKF_SRCS EKF/aid_sources/barometer/baro_height_control.cpp)
list(APPEND EKF_MODULE_PARAMS params_barometer.yaml)
endif()
if(CONFIG_EKF2_DRAG_FUSION)
list(APPEND EKF_SRCS EKF/aid_sources/drag/drag_fusion.cpp)
list(APPEND EKF_MODULE_PARAMS params_drag.yaml)
endif()
if(CONFIG_EKF2_EXTERNAL_VISION)
@ -163,6 +167,7 @@ if(CONFIG_EKF2_EXTERNAL_VISION)
EKF/aid_sources/external_vision/ev_vel_control.cpp
EKF/aid_sources/external_vision/ev_yaw_control.cpp
)
list(APPEND EKF_MODULE_PARAMS params_external_vision.yaml)
endif()
if(CONFIG_EKF2_GNSS)
@ -177,10 +182,13 @@ if(CONFIG_EKF2_GNSS)
endif()
list(APPEND EKF_LIBS yaw_estimator)
list(APPEND EKF_MODULE_PARAMS params_gnss.yaml)
endif()
if(CONFIG_EKF2_GRAVITY_FUSION)
list(APPEND EKF_SRCS EKF/aid_sources/gravity/gravity_fusion.cpp)
list(APPEND EKF_MODULE_PARAMS params_gravity.yaml)
endif()
if(CONFIG_EKF2_MAGNETOMETER)
@ -188,6 +196,7 @@ if(CONFIG_EKF2_MAGNETOMETER)
EKF/aid_sources/magnetometer/mag_control.cpp
EKF/aid_sources/magnetometer/mag_fusion.cpp
)
list(APPEND EKF_MODULE_PARAMS params_magnetometer.yaml)
endif()
if(CONFIG_EKF2_OPTICAL_FLOW)
@ -195,6 +204,7 @@ if(CONFIG_EKF2_OPTICAL_FLOW)
EKF/aid_sources/optical_flow/optical_flow_control.cpp
EKF/aid_sources/optical_flow/optical_flow_fusion.cpp
)
list(APPEND EKF_MODULE_PARAMS params_optical_flow.yaml)
endif()
if(CONFIG_EKF2_RANGE_FINDER)
@ -204,18 +214,22 @@ if(CONFIG_EKF2_RANGE_FINDER)
EKF/aid_sources/range_finder/range_height_fusion.cpp
EKF/aid_sources/range_finder/sensor_range_finder.cpp
)
list(APPEND EKF_MODULE_PARAMS params_range_finder.yaml)
endif()
if(CONFIG_EKF2_SIDESLIP)
list(APPEND EKF_SRCS EKF/aid_sources/sideslip/sideslip_fusion.cpp)
list(APPEND EKF_MODULE_PARAMS params_sideslip.yaml)
endif()
if(CONFIG_EKF2_TERRAIN)
list(APPEND EKF_SRCS EKF/terrain_control.cpp)
list(APPEND EKF_MODULE_PARAMS params_terrain.yaml)
endif()
if(CONFIG_EKF2_WIND)
list(APPEND EKF_SRCS EKF/wind.cpp)
list(APPEND EKF_MODULE_PARAMS params_wind.yaml)
endif ()
add_subdirectory(EKF)
@ -251,6 +265,7 @@ px4_add_module(
params_multi.yaml
params_volatile.yaml
params_selector.yaml
${EKF_MODULE_PARAMS}
DEPENDS
geo

1072
src/modules/ekf2/module.yaml
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45
src/modules/ekf2/params_airspeed.yaml Normal file
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@ -0,0 +1,45 @@
module_name: ekf2
parameters:
- group: EKF2
definitions:
EKF2_ARSP_THR:
description:
short: Airspeed fusion threshold
long: Airspeed data is fused for wind estimation if above this threshold.
Set to 0 to disable airspeed fusion. For reliable wind estimation both sideslip
(see EKF2_FUSE_BETA) and airspeed fusion should be enabled. Only applies
to fixed-wing vehicles (or VTOLs in fixed-wing mode).
type: float
default: 0.0
min: 0.0
unit: m/s
decimal: 1
EKF2_ASP_DELAY:
description:
short: Airspeed measurement delay relative to IMU measurements
type: float
default: 100
min: 0
max: 300
unit: ms
reboot_required: true
decimal: 1
EKF2_TAS_GATE:
description:
short: Gate size for TAS fusion
long: Sets the number of standard deviations used by the innovation consistency
test.
type: float
default: 5.0
min: 1.0
unit: SD
decimal: 1
EKF2_EAS_NOISE:
description:
short: Measurement noise for airspeed fusion
type: float
default: 1.4
min: 0.5
max: 5.0
unit: m/s
decimal: 1

45
src/modules/ekf2/params_aux_global_position.yaml Normal file
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@ -0,0 +1,45 @@
module_name: ekf2
parameters:
- group: EKF2
definitions:
EKF2_AGP_CTRL:
description:
short: Aux global position (AGP) sensor aiding
long: 'Set bits in the following positions to enable: 0 : Horizontal position
fusion 1 : Vertical position fusion'
type: bitmask
bit:
0: Horizontal position
1: Vertical position
default: 0
min: 0
max: 3
EKF2_AGP_DELAY:
description:
short: Aux global position estimator delay relative to IMU measurements
type: float
default: 0
min: 0
max: 300
unit: ms
reboot_required: true
decimal: 1
EKF2_AGP_NOISE:
description:
short: Measurement noise for aux global position measurements
long: Used to lower bound or replace the uncertainty included in the message
type: float
default: 0.9
min: 0.01
unit: m
decimal: 2
EKF2_AGP_GATE:
description:
short: Gate size for aux global position fusion
long: Sets the number of standard deviations used by the innovation consistency
test.
type: float
default: 3.0
min: 1.0
unit: SD
decimal: 1

14
src/modules/ekf2/params_aux_velocity.yaml Normal file
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@ -0,0 +1,14 @@
module_name: ekf2
parameters:
- group: EKF2
definitions:
EKF2_AVEL_DELAY:
description:
short: Auxiliary Velocity Estimate delay relative to IMU measurements
type: float
default: 5
min: 0
max: 300
unit: ms
reboot_required: true
decimal: 1

130
src/modules/ekf2/params_barometer.yaml Normal file
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@ -0,0 +1,130 @@
module_name: ekf2
parameters:
- group: EKF2
definitions:
EKF2_BARO_CTRL:
description:
short: Barometric sensor height aiding
long: If this parameter is enabled then the estimator will make use of the
barometric height measurements to estimate its height in addition to other
height sources (if activated).
type: boolean
default: 1
EKF2_BARO_DELAY:
description:
short: Barometer measurement delay relative to IMU measurements
type: float
default: 0
min: 0
max: 300
unit: ms
reboot_required: true
decimal: 1
EKF2_BARO_GATE:
description:
short: Gate size for barometric and GPS height fusion
long: Sets the number of standard deviations used by the innovation consistency
test.
type: float
default: 5.0
min: 1.0
unit: SD
decimal: 1
EKF2_BARO_NOISE:
description:
short: Measurement noise for barometric altitude
type: float
default: 3.5
min: 0.01
max: 15.0
unit: m
decimal: 2
EKF2_GND_EFF_DZ:
description:
short: Baro deadzone range for height fusion
long: Sets the value of deadzone applied to negative baro innovations. Deadzone
is enabled when EKF2_GND_EFF_DZ > 0.
type: float
default: 4.0
min: 0.0
max: 10.0
unit: m
decimal: 1
EKF2_GND_MAX_HGT:
description:
short: Height above ground level for ground effect zone
long: Sets the maximum distance to the ground level where negative baro innovations
are expected.
type: float
default: 0.5
min: 0.0
max: 5.0
unit: m
decimal: 1
EKF2_PCOEF_XP:
description:
short: Static pressure position error coefficient for the positive X axis
long: This is the ratio of static pressure error to dynamic pressure generated
by a positive wind relative velocity along the X body axis. If the baro
height estimate rises during forward flight, then this will be a negative
number.
type: float
default: 0.0
min: -0.5
max: 0.5
decimal: 2
EKF2_PCOEF_XN:
description:
short: Static pressure position error coefficient for the negative X axis
long: This is the ratio of static pressure error to dynamic pressure generated
by a negative wind relative velocity along the X body axis. If the baro
height estimate rises during backwards flight, then this will be a negative
number.
type: float
default: 0.0
min: -0.5
max: 0.5
decimal: 2
EKF2_PCOEF_YP:
description:
short: Pressure position error coefficient for the positive Y axis
long: This is the ratio of static pressure error to dynamic pressure generated
by a wind relative velocity along the positive Y (RH) body axis. If the
baro height estimate rises during sideways flight to the right, then this
will be a negative number.
type: float
default: 0.0
min: -0.5
max: 0.5
decimal: 2
EKF2_PCOEF_YN:
description:
short: Pressure position error coefficient for the negative Y axis
long: This is the ratio of static pressure error to dynamic pressure generated
by a wind relative velocity along the negative Y (LH) body axis. If the
baro height estimate rises during sideways flight to the left, then this
will be a negative number.
type: float
default: 0.0
min: -0.5
max: 0.5
decimal: 2
EKF2_PCOEF_Z:
description:
short: Static pressure position error coefficient for the Z axis
long: This is the ratio of static pressure error to dynamic pressure generated
by a wind relative velocity along the Z body axis.
type: float
default: 0.0
min: -0.5
max: 0.5
decimal: 2
EKF2_ASPD_MAX:
description:
short: Maximum airspeed used for baro static pressure compensation
type: float
default: 20.0
min: 5.0
max: 50.0
unit: m/s
decimal: 1

75
src/modules/ekf2/params_drag.yaml Normal file
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@ -0,0 +1,75 @@
module_name: ekf2
parameters:
- group: EKF2
definitions:
EKF2_DRAG_CTRL:
description:
short: Multirotor wind estimation selection
long: Activate wind speed estimation using specific-force measurements and
a drag model defined by EKF2_BCOEF_[XY] and EKF2_MCOEF. Only use on vehicles
that have their thrust aligned with the Z axis and no thrust in the XY plane.
type: boolean
default: 0
EKF2_DRAG_NOISE:
description:
short: Specific drag force observation noise variance
long: Used by the multi-rotor specific drag force model.
Increasing this makes the multi-rotor wind estimates adjust more slowly.
type: float
default: 2.5
min: 0.5
max: 10.0
unit: (m/s^2)^2
decimal: 2
EKF2_BCOEF_X:
description:
short: X-axis ballistic coefficient used for multi-rotor wind estimation
long: This parameter controls the prediction of drag produced by bluff body
drag along the forward/reverse axis when flying a multi-copter which enables
estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The
drag produced by this effect scales with speed squared. The predicted drag
from the rotors is specified separately by the EKF2_MCOEF parameter. Set
this parameter to zero to turn off the bluff body drag model for this axis.
type: float
default: 100.0
min: 0.0
max: 200.0
unit: kg/m^2
decimal: 1
EKF2_BCOEF_Y:
description:
short: Y-axis ballistic coefficient used for multi-rotor wind estimation
long: This parameter controls the prediction of drag produced by bluff body
drag along the right/left axis when flying a multi-copter, which enables
estimation of wind drift when enabled by the EKF2_DRAG_CTRL parameter. The
drag produced by this effect scales with speed squared. The predicted drag
from the rotors is specified separately by the EKF2_MCOEF parameter. Set
this parameter to zero to turn off the bluff body drag model for this axis.
type: float
default: 100.0
min: 0.0
max: 200.0
unit: kg/m^2
decimal: 1
EKF2_MCOEF:
description:
short: Propeller momentum drag coefficient for multi-rotor wind estimation
long: This parameter controls the prediction of drag produced by the propellers
when flying a multi-copter, which enables estimation of wind drift when
enabled by the EKF2_DRAG_CTRL parameter. The drag produced by this effect
scales with speed not speed squared and is produced because some of the
air velocity normal to the propeller axis of rotation is lost when passing
through the rotor disc. This changes the momentum of the flow which creates
a drag reaction force. When comparing un-ducted propellers of the same diameter,
the effect is roughly proportional to the area of the propeller blades when
viewed side on and changes with propeller selection. Momentum drag is significantly
higher for ducted rotors. To account for the drag produced by the body which
scales with speed squared, see documentation for the EKF2_BCOEF_X and EKF2_BCOEF_Y
parameters. Set this parameter to zero to turn off the momentum drag model
for both axis.
type: float
default: 0.15
min: 0
max: 1.0
unit: 1/s
decimal: 2

121
src/modules/ekf2/params_external_vision.yaml Normal file
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@ -0,0 +1,121 @@
module_name: ekf2
parameters:
- group: EKF2
definitions:
EKF2_EV_CTRL:
description:
short: External vision (EV) sensor aiding
long: 'Set bits in the following positions to enable: 0 : Horizontal position
fusion 1 : Vertical position fusion 2 : 3D velocity fusion 3 : Yaw'
type: bitmask
bit:
0: Horizontal position
1: Vertical position
2: 3D velocity
3: Yaw
default: 0
min: 0
max: 15
EKF2_EV_DELAY:
description:
short: Vision Position Estimator delay relative to IMU measurements
type: float
default: 0
min: 0
max: 300
unit: ms
reboot_required: true
decimal: 1
EKF2_EV_NOISE_MD:
description:
short: External vision (EV) noise mode
long: If set to 0 (default) the measurement noise is taken from the vision
message and the EV noise parameters are used as a lower bound. If set to
1 the observation noise is set from the parameters directly,
type: enum
values:
0: EV reported variance (parameter lower bound)
1: EV noise parameters
default: 0
EKF2_EV_QMIN:
description:
short: External vision (EV) minimum quality (optional)
long: External vision will only be started and fused if the quality metric
is above this threshold. The quality metric is a completely optional field
provided by some VIO systems.
type: int32
default: 0
min: 0
max: 100
decimal: 1
EKF2_EVA_NOISE:
description:
short: Measurement noise for vision angle measurements
long: Used to lower bound or replace the uncertainty included in the message
type: float
default: 0.1
min: 0.05
unit: rad
decimal: 2
EKF2_EVP_GATE:
description:
short: Gate size for vision position fusion
long: Sets the number of standard deviations used by the innovation consistency
test.
type: float
default: 5.0
min: 1.0
unit: SD
decimal: 1
EKF2_EVP_NOISE:
description:
short: Measurement noise for vision position measurements
long: Used to lower bound or replace the uncertainty included in the message
type: float
default: 0.1
min: 0.01
unit: m
decimal: 2
EKF2_EVV_GATE:
description:
short: Gate size for vision velocity estimate fusion
long: Sets the number of standard deviations used by the innovation consistency
test.
type: float
default: 3.0
min: 1.0
unit: SD
decimal: 1
EKF2_EVV_NOISE:
description:
short: Measurement noise for vision velocity measurements
long: Used to lower bound or replace the uncertainty included in the message
type: float
default: 0.1
min: 0.01
unit: m/s
decimal: 2
EKF2_EV_POS_X:
description:
short: X position of VI sensor focal point in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3
EKF2_EV_POS_Y:
description:
short: Y position of VI sensor focal point in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3
EKF2_EV_POS_Z:
description:
short: Z position of VI sensor focal point in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3

196
src/modules/ekf2/params_gnss.yaml Normal file
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@ -0,0 +1,196 @@
module_name: ekf2
parameters:
- group: EKF2
definitions:
EKF2_GPS_CTRL:
description:
short: GNSS sensor aiding
long: 'Set bits in the following positions to enable: 0 : Longitude and latitude
fusion 1 : Altitude fusion 2 : 3D velocity fusion 3 : Dual antenna heading
fusion'
type: bitmask
bit:
0: Lon/lat
1: Altitude
2: 3D velocity
3: Dual antenna heading
default: 7
min: 0
max: 15
EKF2_GPS_DELAY:
description:
short: GPS measurement delay relative to IMU measurements
type: float
default: 110
min: 0
max: 300
unit: ms
reboot_required: true
decimal: 1
EKF2_GPS_P_NOISE:
description:
short: Measurement noise for GNSS position
type: float
default: 0.5
min: 0.01
max: 10.0
unit: m
decimal: 2
EKF2_GPS_P_GATE:
description:
short: Gate size for GNSS position fusion
long: Sets the number of standard deviations used by the innovation consistency
test.
type: float
default: 5.0
min: 1.0
unit: SD
decimal: 1
EKF2_GPS_V_GATE:
description:
short: Gate size for GNSS velocity fusion
long: Sets the number of standard deviations used by the innovation consistency
test.
type: float
default: 5.0
min: 1.0
unit: SD
decimal: 1
EKF2_GPS_V_NOISE:
description:
short: Measurement noise for GNSS velocity
type: float
default: 0.3
min: 0.01
max: 5.0
unit: m/s
decimal: 2
EKF2_GPS_POS_X:
description:
short: X position of GPS antenna in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3
EKF2_GPS_POS_Y:
description:
short: Y position of GPS antenna in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3
EKF2_GPS_POS_Z:
description:
short: Z position of GPS antenna in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3
EKF2_GPS_CHECK:
description:
short: Integer bitmask controlling GPS checks
long: 'Each threshold value is defined by the parameter indicated next to the check.
Drift and offset checks only run when the vehicle is on ground and stationary.'
type: bitmask
bit:
0: Sat count (EKF2_REQ_NSATS)
1: PDOP (EKF2_REQ_PDOP)
2: EPH (EKF2_REQ_EPH)
3: EPV (EKF2_REQ_EPV)
4: Speed accuracy (EKF2_REQ_SACC)
5: Horizontal position drift (EKF2_REQ_HDRIFT)
6: Vertical position drift (EKF2_REQ_VDRIFT)
7: Horizontal speed offset (EKF2_REQ_HDRIFT)
8: Vertical speed offset (EKF2_REQ_VDRIFT)
9: Spoofing
default: 1023
min: 0
max: 1023
EKF2_REQ_EPH:
description:
short: Required EPH to use GPS
type: float
default: 3.0
min: 2
max: 100
unit: m
decimal: 1
EKF2_REQ_EPV:
description:
short: Required EPV to use GPS
type: float
default: 5.0
min: 2
max: 100
unit: m
decimal: 1
EKF2_REQ_SACC:
description:
short: Required speed accuracy to use GPS
type: float
default: 0.5
min: 0.5
max: 5.0
unit: m/s
decimal: 2
EKF2_REQ_NSATS:
description:
short: Required satellite count to use GPS
type: int32
default: 6
min: 4
max: 12
EKF2_REQ_PDOP:
description:
short: Maximum PDOP to use GPS
type: float
default: 2.5
min: 1.5
max: 5.0
decimal: 1
EKF2_REQ_HDRIFT:
description:
short: Maximum horizontal drift speed to use GPS
type: float
default: 0.1
min: 0.1
max: 1.0
unit: m/s
decimal: 2
EKF2_REQ_VDRIFT:
description:
short: Maximum vertical drift speed to use GPS
type: float
default: 0.2
min: 0.1
max: 1.5
decimal: 2
unit: m/s
EKF2_REQ_GPS_H:
description:
short: Required GPS health time on startup
long: Minimum continuous period without GPS failure required to mark a healthy
GPS status. It can be reduced to speed up initialization, but it's recommended
to keep this unchanged for a vehicle.
type: float
default: 10.0
min: 0.1
decimal: 1
unit: s
reboot_required: true
EKF2_GSF_TAS:
description:
short: Default value of true airspeed used in EKF-GSF AHRS calculation
long: If no airspeed measurements are available, 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.
type: float
default: 15.0
min: 0.0
unit: m/s
max: 100.0
decimal: 1

13
src/modules/ekf2/params_gravity.yaml Normal file
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@ -0,0 +1,13 @@
module_name: ekf2
parameters:
- group: EKF2
definitions:
EKF2_GRAV_NOISE:
description:
short: Accelerometer measurement noise for gravity based observations
type: float
default: 1.0
min: 0.1
max: 10.0
unit: g0
decimal: 2

153
src/modules/ekf2/params_magnetometer.yaml Normal file
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@ -0,0 +1,153 @@
module_name: ekf2
parameters:
- group: EKF2
definitions:
EKF2_MAG_TYPE:
description:
short: Type of magnetometer fusion
long: Integer controlling the type of magnetometer fusion used - magnetic
heading or 3-component vector. The fusion of magnetometer data as a three
component vector enables vehicle body fixed hard iron errors to be learned,
but requires a stable earth field. If set to 'Automatic' magnetic heading
fusion is used when on-ground and 3-axis magnetic field fusion in-flight.
If set to 'Magnetic heading' magnetic heading fusion is used at all times.
If set to 'None' the magnetometer will not be used under any circumstance.
If no external source of yaw is available, it is possible to use post-takeoff
horizontal movement combined with GNSS velocity measurements to align the yaw angle.
If set to 'Init' the magnetometer is only used to initalize the heading.
type: enum
values:
0: Automatic
1: Magnetic heading
5: None
6: Init
default: 0
reboot_required: true
EKF2_MAG_DELAY:
description:
short: Magnetometer measurement delay relative to IMU measurements
type: float
default: 0
min: 0
max: 300
unit: ms
reboot_required: true
decimal: 1
EKF2_MAG_GATE:
description:
short: Gate size for magnetometer XYZ component fusion
long: Sets the number of standard deviations used by the innovation consistency
test.
type: float
default: 3.0
min: 1.0
unit: SD
decimal: 1
EKF2_MAG_NOISE:
description:
short: Measurement noise for magnetometer 3-axis fusion
type: float
default: 0.05
min: 0.001
max: 1.0
unit: gauss
decimal: 3
EKF2_MAG_B_NOISE:
description:
short: Process noise for body magnetic field prediction
type: float
default: 0.0001
min: 0.0
max: 0.1
unit: gauss/s
decimal: 6
EKF2_MAG_E_NOISE:
description:
short: Process noise for earth magnetic field prediction
type: float
default: 0.001
min: 0.0
max: 0.1
unit: gauss/s
decimal: 6
EKF2_DECL_TYPE:
description:
short: Integer bitmask controlling handling of magnetic declination
long: 'Set bits in the following positions to enable functions. 0 : Set to
true to use the declination from the geo_lookup library when the GPS position
becomes available, set to false to always use the EKF2_MAG_DECL value. 1
: Set to true to save the EKF2_MAG_DECL parameter to the value returned
by the EKF when the vehicle disarms.'
type: bitmask
bit:
0: use geo_lookup declination
1: save EKF2_MAG_DECL on disarm
default: 3
min: 0
max: 3
reboot_required: true
EKF2_MAG_ACCLIM:
description:
short: Horizontal acceleration threshold used for heading observability check
long: The heading is assumed to be observable when the body acceleration is
greater than this parameter when a global position/velocity aiding source
is active.
type: float
default: 0.5
min: 0.0
max: 5.0
unit: m/s^2
decimal: 2
EKF2_MAG_CHECK:
description:
short: Magnetic field strength test selection
long: 'Bitmask to set which check is used to decide whether the magnetometer
data is valid. If GNSS data is received, the magnetic field is compared
to a World Magnetic Model (WMM), otherwise an average value is used. This
check is useful to reject occasional hard iron disturbance. Set bits to
1 to enable checks. Checks enabled by the following bit positions 0 : Magnetic
field strength. Set tolerance using EKF2_MAG_CHK_STR 1 : Magnetic field
inclination. Set tolerance using EKF2_MAG_CHK_INC 2 : Wait for GNSS to find
the theoretical strength and inclination using the WMM'
type: bitmask
bit:
0: Strength (EKF2_MAG_CHK_STR)
1: Inclination (EKF2_MAG_CHK_INC)
2: Wait for WMM
default: 1
min: 0
max: 7
EKF2_MAG_CHK_STR:
description:
short: Magnetic field strength check tolerance
long: Maximum allowed deviation from the expected magnetic field strength
to pass the check.
type: float
default: 0.2
min: 0.0
max: 1.0
unit: gauss
decimal: 2
EKF2_MAG_CHK_INC:
description:
short: Magnetic field inclination check tolerance
long: Maximum allowed deviation from the expected magnetic field inclination
to pass the check.
type: float
default: 20.0
min: 0.0
max: 90.0
unit: deg
decimal: 1
EKF2_SYNT_MAG_Z:
description:
short: Enable synthetic magnetometer Z component measurement
long: 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 ignored instead of fusing the synthetic value.
type: boolean
default: 0

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module_name: ekf2
parameters:
- group: EKF2
definitions:
EKF2_OF_CTRL:
description:
short: Optical flow aiding
long: Enable optical flow fusion.
type: boolean
default: 1
EKF2_OF_DELAY:
description:
short: Optical flow measurement delay relative to IMU measurements
long: Assumes measurement is timestamped at trailing edge of integration period
type: float
default: 20
min: 0
max: 300
unit: ms
reboot_required: true
decimal: 1
EKF2_OF_GATE:
description:
short: Gate size for optical flow fusion
long: Sets the number of standard deviations used by the innovation consistency
test.
type: float
default: 3.0
min: 1.0
unit: SD
decimal: 1
EKF2_OF_N_MIN:
description:
short: Optical flow minimum noise
long: Measurement noise for the optical flow sensor when it's reported quality
metric is at the maximum
type: float
default: 0.15
min: 0.05
unit: rad/s
decimal: 2
EKF2_OF_N_MAX:
description:
short: Optical flow maximum noise
long: Measurement noise for the optical flow sensor when it's reported quality
metric is at the minimum
type: float
default: 0.5
min: 0.05
unit: rad/s
decimal: 2
EKF2_OF_QMIN:
description:
short: In air optical flow minimum quality
long: Optical Flow data will only be used in air if the sensor reports a
quality metric >= EKF2_OF_QMIN
type: int32
default: 1
min: 0
max: 255
EKF2_OF_QMIN_GND:
description:
short: On ground optical flow minimum quality
long: Optical Flow data will only be used on the ground if the sensor reports
a quality metric >= EKF2_OF_QMIN_GND
type: int32
default: 0
min: 0
max: 255
EKF2_OF_GYR_SRC:
description:
short: Optical flow angular rate compensation source
long: 'Auto: use gyro from optical flow message if available, internal gyro otherwise.
Internal: always use internal gyro'
type: enum
values:
0: Auto
1: Internal
default: 0
EKF2_OF_POS_X:
description:
short: X position of optical flow focal point in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3
EKF2_OF_POS_Y:
description:
short: Y position of optical flow focal point in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3
EKF2_OF_POS_Z:
description:
short: Z position of optical flow focal point in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3

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module_name: ekf2
parameters:
- group: EKF2
definitions:
EKF2_RNG_CTRL:
description:
short: Range sensor height aiding
long: 'WARNING: Range finder measurements are less reliable and can experience
unexpected errors. For these reasons, if accurate control of height relative
to ground is required, it is recommended to use the MPC_ALT_MODE parameter
instead, unless baro errors are severe enough to cause problems with landing
and takeoff. If this parameter is enabled then the estimator
will make use of the range finder measurements to estimate its height in
addition to other height sources (if activated). Range sensor aiding can
be enabled (i.e.: always use) or set in "conditional" mode. Conditional
mode: This enables the range finder to be used during low speed (< EKF2_RNG_A_VMAX)
and low altitude (< EKF2_RNG_A_HMAX) operation, eg takeoff and landing,
where baro interference from rotor wash is excessive and can corrupt EKF
state estimates. It is intended to be used where a vertical takeoff and
landing is performed, and horizontal flight does not occur until above EKF2_RNG_A_HMAX.'
type: enum
values:
0: Disable range fusion
1: Enabled (conditional mode)
2: Enabled
default: 1
EKF2_RNG_DELAY:
description:
short: Range finder measurement delay relative to IMU measurements
type: float
default: 5
min: 0
max: 300
unit: ms
reboot_required: true
decimal: 1
EKF2_RNG_GATE:
description:
short: Gate size for range finder fusion
long: Sets the number of standard deviations used by the innovation consistency
test.
type: float
default: 5.0
min: 1.0
unit: SD
decimal: 1
EKF2_RNG_NOISE:
description:
short: Measurement noise for range finder fusion
type: float
default: 0.1
min: 0.01
unit: m
decimal: 2
EKF2_RNG_PITCH:
description:
short: Range sensor pitch offset
type: float
default: 0.0
min: -0.75
max: 0.75
unit: rad
decimal: 3
EKF2_RNG_A_VMAX:
description:
short: Maximum horizontal velocity allowed for conditional range aid mode
long: If the vehicle horizontal speed exceeds this value then the estimator
will not fuse range measurements to estimate its height. This only applies
when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).
type: float
default: 1.0
min: 0.1
max: 2
unit: m/s
EKF2_RNG_A_HMAX:
description:
short: Maximum height above ground allowed for conditional range aid mode
long: If the vehicle absolute altitude exceeds this value then the estimator
will not fuse range measurements to estimate its height. This only applies
when conditional range aid mode is activated (EKF2_RNG_CTRL = 1).
type: float
default: 5.0
min: 1.0
max: 10.0
unit: m
EKF2_RNG_A_IGATE:
description:
short: Gate size used for innovation consistency checks for range aid fusion
long: A lower value means HAGL needs to be more stable in order to use range
finder for height estimation in range aid mode
type: float
default: 1.0
unit: SD
min: 0.1
max: 5.0
EKF2_RNG_QLTY_T:
description:
short: Minumum range validity period
long: Minimum duration during which the reported range finder signal quality
needs to be non-zero in order to be declared valid (s)
type: float
default: 1.0
unit: s
min: 0.1
max: 5
EKF2_RNG_K_GATE:
description:
short: Gate size used for range finder kinematic consistency check
long: 'To be used, the time derivative of the distance sensor measurements
projected on the vertical axis needs to be statistically consistent with
the estimated vertical velocity of the drone. Decrease this value to make
the filter more robust against range finder faulty data (stuck, reflections,
...). Note: tune the range finder noise parameters (EKF2_RNG_NOISE and EKF2_RNG_SFE)
before tuning this gate.'
type: float
default: 1.0
unit: SD
min: 0.1
max: 5.0
EKF2_RNG_SFE:
description:
short: Range finder range dependent noise scaler
long: Specifies the increase in range finder noise with range.
type: float
default: 0.05
min: 0.0
max: 0.2
unit: m/m
EKF2_RNG_POS_X:
description:
short: X position of range finder origin in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3
EKF2_RNG_POS_Y:
description:
short: Y position of range finder origin in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3
EKF2_RNG_POS_Z:
description:
short: Z position of range finder origin in body frame
long: Forward axis with origin relative to vehicle centre of gravity
type: float
default: 0.0
unit: m
decimal: 3

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module_name: ekf2
parameters:
- group: EKF2
definitions:
EKF2_FUSE_BETA:
description:
short: Enable synthetic sideslip fusion
long: 'For reliable wind estimation both sideslip and airspeed fusion (see
EKF2_ARSP_THR) should be enabled. Only applies to fixed-wing vehicles (or
VTOLs in fixed-wing mode). Note: side slip fusion is currently not supported
for tailsitters.'
type: boolean
default: 0
EKF2_BETA_GATE:
description:
short: Gate size for synthetic sideslip fusion
long: Sets the number of standard deviations used by the innovation consistency
test.
type: float
default: 5.0
min: 1.0
unit: SD
decimal: 1
EKF2_BETA_NOISE:
description:
short: Noise for synthetic sideslip fusion
type: float
default: 0.3
min: 0.1
max: 1.0
unit: m/s
decimal: 2

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src/modules/ekf2/params_terrain.yaml Normal file
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module_name: ekf2
parameters:
- group: EKF2
definitions:
EKF2_TERR_NOISE:
description:
short: Terrain altitude process noise
type: float
default: 5.0
min: 0.5
unit: m/s
decimal: 1
EKF2_TERR_GRAD:
description:
short: Magnitude of terrain gradient
type: float
default: 0.5
min: 0.0
unit: m/m
decimal: 2
EKF2_MIN_RNG:
description:
short: Expected range finder reading when on ground
long: If the vehicle is on ground, is not moving as determined by the motion
test and the range finder is returning invalid or no data, then an assumed
range value of EKF2_MIN_RNG will be used by the terrain estimator so that
a terrain height estimate is available at the start of flight in situations
where the range finder may be inside its minimum measurements distance when
on ground.
type: float
default: 0.1
min: 0.01
unit: m
decimal: 2

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module_name: ekf2
parameters:
- group: EKF2
definitions:
EKF2_WIND_NSD:
description:
short: Process noise spectral density for wind velocity prediction
long: When unaided, the wind estimate uncertainty (1-sigma, in m/s) increases
by this amount every second.
type: float
default: 0.05
min: 0.0
max: 1.0
unit: m/s^2/sqrt(Hz)
decimal: 3