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added parameter for when to fuse sideslip

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CarlOlsson
2016-06-08 19:46:02 +02:00
committed by Lorenz Meier
parent 1223e4ba6b
commit f00f6e6eff
2 changed files with 12 additions and 0 deletions
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src/modules/ekf2/ekf2_main.cpp
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@@ -270,6 +270,7 @@ private:
control::BlockParamFloat
_arspFusionThreshold; // a value of zero will disabled airspeed fusion. Any another positive value will determine
// the minimum airspeed which will still be fused
control::BlockParamInt _fuseBeta; // 0 disables synthetic sideslip fusion, 1 activates it
// output predictor filter time constants
control::BlockParamExtFloat _tau_vel; // time constant used by the output velocity complementary filter (s)
@@ -376,6 +377,7 @@ Ekf2::Ekf2():
_ev_pos_y(this, "EKF2_EV_POS_Y", false, _params->ev_pos_body(1)),
_ev_pos_z(this, "EKF2_EV_POS_Z", false, _params->ev_pos_body(2)),
_arspFusionThreshold(this, "EKF2_ARSP_THR", false),
_fuseBeta(this, "EKF2_FUSE_BETA",false),
_tau_vel(this, "EKF2_TAU_VEL", false, _params->vel_Tau),
_tau_pos(this, "EKF2_TAU_POS", false, _params->pos_Tau),
_gyr_bias_init(this, "EKF2_GBIAS_INIT", false, _params->switch_on_gyro_bias),