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ekf2: Update documentation for compatibility with Doxygen (#7657)
This commit is contained in:
Paul Riseborough
+135
-132
@@ -118,54 +118,55 @@ public:
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int print_status() override;
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private:
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static constexpr float _dt_max = 0.02;
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bool _replay_mode; // should we use replay data from a log
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int32_t _publish_replay_mode; // defines if we should publish replay messages
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static constexpr float _dt_max = 0.02; ///< minimum allowed arrival time between non-IMU sensor readings (sec)
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bool _replay_mode; ///< true when we use replay data from a log
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int32_t _publish_replay_mode; ///< set to 1 if we should publish replay messages for logging
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float _default_ev_pos_noise = 0.05f; // external vision position noise used when an invalid value is supplied
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float _default_ev_ang_noise = 0.05f; // external vision angle noise used when an invalid value is supplied
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float _default_ev_pos_noise = 0.05f; ///< external vision position noise used when an invalid value is supplied (m)
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float _default_ev_ang_noise = 0.05f; ///< external vision angle noise used when an invalid value is supplied (rad)
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// time slip monitoring
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uint64_t integrated_time_us = 0; // integral of gyro delta time from start (usec)
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uint64_t start_time_us = 0; // system time at start (usec)
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uint64_t integrated_time_us = 0; ///< integral of gyro delta time from start (uSec)
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uint64_t start_time_us = 0; ///< system time at EKF start (uSec)
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// Initialise time stamps used to send sensor data to the EKF and for logging
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uint64_t _timestamp_mag_us = 0;
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uint64_t _timestamp_balt_us = 0;
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uint8_t _invalid_mag_id_count = 0;
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uint64_t _timestamp_mag_us = 0; ///< magnetomer data timestamp (uSec)
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uint64_t _timestamp_balt_us = 0; ///< pressure altitude data timestamp (uSec)
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uint8_t _invalid_mag_id_count = 0; ///< number of times an invalid magnetomer device ID has been detected
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// Used to down sample magnetometer data
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float _mag_data_sum[3]; // summed magnetometer readings (Ga)
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uint64_t _mag_time_sum_ms = 0; // summed magnetoemter time stamps (msec)
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uint8_t _mag_sample_count = 0; // number of magnetometer measurements summed
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uint32_t _mag_time_ms_last_used = 0; // time stamp in msec of the last averaged magnetometer measurement used by the EKF
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float _mag_data_sum[3]; ///< summed magnetometer readings (Gauss)
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uint64_t _mag_time_sum_ms = 0; ///< summed magnetoemter time stamps (mSec)
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uint8_t _mag_sample_count = 0; ///< number of magnetometer measurements summed during downsampling
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uint32_t _mag_time_ms_last_used =
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0; ///< time stamp of the last averaged magnetometer measurement sent to the EKF (mSec)
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// Used to down sample barometer data
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float _balt_data_sum; // summed barometric altitude readings (m)
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uint64_t _balt_time_sum_ms = 0; // summed barometric altitude time stamps (msec)
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uint8_t _balt_sample_count = 0; // number of barometric altitude measurements summed
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float _balt_data_sum; ///< summed pressure altitude readings (m)
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uint64_t _balt_time_sum_ms = 0; ///< summed pressure altitude time stamps (mSec)
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uint8_t _balt_sample_count = 0; ///< number of barometric altitude measurements summed
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uint32_t _balt_time_ms_last_used =
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0; // time stamp in msec of the last averaged barometric altitude measurement used by the EKF
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0; ///< time stamp of the last averaged barometric altitude measurement sent to the EKF (mSec)
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float _acc_hor_filt = 0.0f; // low-pass filtered horizontal acceleration
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float _acc_hor_filt = 0.0f; ///< low-pass filtered horizontal acceleration (m/sec**2)
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// Used to check, save and use learned magnetometer biases
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hrt_abstime _last_magcal_us = 0; // last time the EKF was operating a mode that estimates magnetomer biases (usec)
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hrt_abstime _total_cal_time_us = 0; // accumulated calibration time since the last save
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hrt_abstime _last_time_slip_us = 0; ///< Last time slip
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float _last_valid_mag_cal[3] = {}; // last valid XYZ magnetometer bias estimates (mGauss)
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bool _valid_cal_available[3] = {}; // true when an unsaved valid calibration for the XYZ magnetometer bias is available
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float _last_valid_variance[3] = {}; // variances for the last valid magnetometer XYZ bias estimates (mGauss**2)
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hrt_abstime _last_magcal_us = 0; ///< last time the EKF was operating a mode that estimates magnetomer biases (uSec)
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hrt_abstime _total_cal_time_us = 0; ///< accumulated calibration time since the last save
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hrt_abstime _last_time_slip_us = 0; ///< Last time slip (uSec)
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float _last_valid_mag_cal[3] = {}; ///< last valid XYZ magnetometer bias estimates (mGauss)
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bool _valid_cal_available[3] = {}; ///< true when an unsaved valid calibration for the XYZ magnetometer bias is available
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float _last_valid_variance[3] = {}; ///< variances for the last valid magnetometer XYZ bias estimates (mGauss**2)
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// Used to filter velocity innovations during pre-flight checks
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Vector3f _vel_innov_lpf_ned = {}; // Low pass filtered velocity innovations (m/sec)
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float _hgt_innov_lpf = 0.0f; // Low pass filtered height innovation (m)
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const float _innov_lpf_tau_inv = 0.2f; // low pass filter time constant inverse (1/sec)
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const float _vel_innov_test_lim = 0.5f; // maximum permissible velocity innovation to pass pre-flight checks (m/sec)
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const float _hgt_innov_test_lim = 1.5f; // maximum permissible height innovation to pass pre-flight checks (m)
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const float _vel_innov_spike_lim = 2.0f * _vel_innov_test_lim; // spike limiter (m/s)
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const float _hgt_innov_spike_lim = 2.0f * _hgt_innov_test_lim; // spike limiter (m)
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bool _vel_innov_preflt_fail = false; // true if the norm of the filtered innovation vector is too large before flight
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Vector3f _vel_innov_lpf_ned = {}; ///< Preflight low pass filtered velocity innovations (m/sec)
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float _hgt_innov_lpf = 0.0f; ///< Preflight low pass filtered height innovation (m)
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const float _innov_lpf_tau_inv = 0.2f; ///< Preflight low pass filter time constant inverse (1/sec)
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const float _vel_innov_test_lim = 0.5f; ///< Maximum permissible velocity innovation to pass pre-flight checks (m/sec)
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const float _hgt_innov_test_lim = 1.5f; ///< Maximum permissible height innovation to pass pre-flight checks (m)
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const float _vel_innov_spike_lim = 2.0f * _vel_innov_test_lim; ///< preflight velocity innovation spike limit (m/sec)
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const float _hgt_innov_spike_lim = 2.0f * _hgt_innov_test_lim; ///< preflight position innovation spike limit (m)
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bool _vel_innov_preflt_fail = false; ///< true if the norm of the filtered innovation vector is too large before flight
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orb_advert_t _att_pub;
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orb_advert_t _lpos_pub;
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@@ -178,143 +179,145 @@ private:
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orb_advert_t _ekf2_timestamps_pub;
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/* Low pass filter for attitude rates */
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math::LowPassFilter2p _lp_roll_rate;
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math::LowPassFilter2p _lp_pitch_rate;
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math::LowPassFilter2p _lp_yaw_rate;
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math::LowPassFilter2p _lp_roll_rate; ///< Low pass filter applied to roll rates published on the control_state message
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math::LowPassFilter2p _lp_pitch_rate; ///< Low pass filter applied to pitch rates published on the control_state message
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math::LowPassFilter2p _lp_yaw_rate; ///< Low pass filter applied to yaw rates published on the control_state message
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Ekf _ekf;
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parameters *_params; // pointer to ekf parameter struct (located in _ekf class instance)
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parameters *_params; ///< pointer to ekf parameter struct (located in _ekf class instance)
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control::BlockParamExtInt _obs_dt_min_ms;
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control::BlockParamExtFloat _mag_delay_ms;
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control::BlockParamExtFloat _baro_delay_ms;
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control::BlockParamExtFloat _gps_delay_ms;
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control::BlockParamExtFloat _flow_delay_ms;
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control::BlockParamExtFloat _rng_delay_ms;
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control::BlockParamExtFloat _airspeed_delay_ms;
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control::BlockParamExtFloat _ev_delay_ms;
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control::BlockParamExtInt
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_obs_dt_min_ms; ///< Maximmum time delay of any sensor used to increse buffer length to handle large timing jitter (mSec)
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control::BlockParamExtFloat _mag_delay_ms; ///< magnetometer measurement delay relative to the IMU (mSec)
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control::BlockParamExtFloat _baro_delay_ms; ///< barometer height measurement delay relative to the IMU (mSec)
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control::BlockParamExtFloat _gps_delay_ms; ///< GPS measurement delay relative to the IMU (mSec)
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control::BlockParamExtFloat
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_flow_delay_ms; ///< optical flow measurement delay relative to the IMU (mSec) - this is to the middle of the optical flow integration interval
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control::BlockParamExtFloat _rng_delay_ms; ///< range finder measurement delay relative to the IMU (mSec)
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control::BlockParamExtFloat _airspeed_delay_ms; ///< airspeed measurement delay relative to the IMU (mSec)
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control::BlockParamExtFloat _ev_delay_ms; ///< off-board vision measurement delay relative to the IMU (mSec)
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control::BlockParamExtFloat _gyro_noise;
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control::BlockParamExtFloat _accel_noise;
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control::BlockParamExtFloat _gyro_noise; ///< IMU angular rate noise used for covariance prediction (rad/sec)
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control::BlockParamExtFloat _accel_noise; ///< IMU acceleration noise use for covariance prediction (m/sec**2)
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// process noise
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control::BlockParamExtFloat _gyro_bias_p_noise;
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control::BlockParamExtFloat _accel_bias_p_noise;
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control::BlockParamExtFloat _mage_p_noise;
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control::BlockParamExtFloat _magb_p_noise;
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control::BlockParamExtFloat _wind_vel_p_noise;
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control::BlockParamExtFloat _terrain_p_noise; // terrain offset state random walk (m/s)
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control::BlockParamExtFloat _terrain_gradient; // magnitude of terrain gradient (m/m)
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control::BlockParamExtFloat _gps_vel_noise;
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control::BlockParamExtFloat _gps_pos_noise;
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control::BlockParamExtFloat _pos_noaid_noise;
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control::BlockParamExtFloat _baro_noise;
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control::BlockParamExtFloat _baro_innov_gate; // innovation gate for barometric height innovation test (std dev)
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control::BlockParamExtFloat _gyro_bias_p_noise; ///< process noise for IMU rate gyro bias prediction (rad/sec**2)
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control::BlockParamExtFloat _accel_bias_p_noise;///< process noise for IMU accelerometer bias prediction (m/sec**3)
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control::BlockParamExtFloat _mage_p_noise; ///< process noise for earth magnetic field prediction (Gauss/sec)
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control::BlockParamExtFloat _magb_p_noise; ///< process noise for body magnetic field prediction (Gauss/sec)
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control::BlockParamExtFloat _wind_vel_p_noise; ///< process noise for wind velocity prediction (m/sec**2)
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control::BlockParamExtFloat _terrain_p_noise; ///< process noise for terrain offset (m/sec)
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control::BlockParamExtFloat
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_posNE_innov_gate; // innovation gate for GPS horizontal position innovation test (std dev)
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control::BlockParamExtFloat _vel_innov_gate; // innovation gate for GPS velocity innovation test (std dev)
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control::BlockParamExtFloat _tas_innov_gate; // innovation gate for tas innovation test (std dev)
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_terrain_gradient; ///< gradient of terrain used to estimate process noise due to changing position (m/m)
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control::BlockParamExtFloat _gps_vel_noise; ///< minimum allowed observation noise for gps velocity fusion (m/sec)
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control::BlockParamExtFloat _gps_pos_noise; ///< minimum allowed observation noise for gps position fusion (m)
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control::BlockParamExtFloat _pos_noaid_noise; ///< observation noise for non-aiding position fusion (m)
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control::BlockParamExtFloat _baro_noise; ///< observation noise for barometric height fusion (m)
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control::BlockParamExtFloat _baro_innov_gate; ///< barometric height innovation consistency gate size (STD)
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control::BlockParamExtFloat _posNE_innov_gate; ///< GPS horizontal position innovation consistency gate size (STD)
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control::BlockParamExtFloat _vel_innov_gate; ///< GPS velocity innovation consistency gate size (STD)
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control::BlockParamExtFloat _tas_innov_gate; ///< True Airspeed innovation consistency gate size (STD)
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// control of magnetometer fusion
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control::BlockParamExtFloat _mag_heading_noise; // measurement noise used for simple heading fusion
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control::BlockParamExtFloat _mag_noise; // measurement noise used for 3-axis magnetoemter fusion (Gauss)
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control::BlockParamExtFloat _eas_noise; // measurement noise used for airspeed fusion (std m/s)
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control::BlockParamExtFloat _beta_noise; // synthetic sideslip noise (m/s)
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control::BlockParamExtFloat _mag_declination_deg;// magnetic declination in degrees
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control::BlockParamExtFloat _heading_innov_gate;// innovation gate for heading innovation test
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control::BlockParamExtFloat _mag_innov_gate; // innovation gate for magnetometer innovation test
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control::BlockParamExtInt
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_mag_decl_source; // bitmasked integer used to control the handling of magnetic declination
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control::BlockParamExtInt _mag_fuse_type; // integer ued to control the type of magnetometer fusion used
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control::BlockParamExtFloat _mag_acc_gate; // manoeuvre threshold for use of 3-axis fusion (m/s**2)
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control::BlockParamExtFloat _mag_yaw_rate_gate; // yaw rate threshold for use of 3-axis fusion (rad/s)
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control::BlockParamExtFloat _mag_heading_noise; ///< measurement noise used for simple heading fusion (rad)
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control::BlockParamExtFloat _mag_noise; ///< measurement noise used for 3-axis magnetoemeter fusion (Gauss)
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control::BlockParamExtFloat _eas_noise; ///< measurement noise used for airspeed fusion (m/sec)
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control::BlockParamExtFloat _beta_noise; ///< synthetic sideslip noise (rad)
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control::BlockParamExtFloat _mag_declination_deg;///< magnetic declination (degrees)
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control::BlockParamExtFloat _heading_innov_gate;///< heading fusion innovation consistency gate size (STD)
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control::BlockParamExtFloat _mag_innov_gate; ///< magnetometer fusion innovation consistency gate size (STD)
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control::BlockParamExtInt _mag_decl_source; ///< bitmask used to control the handling of declination data
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control::BlockParamExtInt _mag_fuse_type; ///< integer used to specify the type of magnetometer fusion used
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control::BlockParamExtFloat _mag_acc_gate; ///< integer used to specify the type of magnetometer fusion used
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control::BlockParamExtFloat _mag_yaw_rate_gate; ///< yaw rate threshold used by mode select logic (rad/sec)
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control::BlockParamExtInt _gps_check_mask; // bitmasked integer used to activate the different GPS quality checks
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control::BlockParamExtFloat _requiredEph; // maximum acceptable horiz position error (m)
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control::BlockParamExtFloat _requiredEpv; // maximum acceptable vert position error (m)
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control::BlockParamExtFloat _requiredSacc; // maximum acceptable speed error (m/s)
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control::BlockParamExtInt _requiredNsats; // minimum acceptable satellite count
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control::BlockParamExtFloat _requiredGDoP; // maximum acceptable geometric dilution of precision
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control::BlockParamExtFloat _requiredHdrift; // maximum acceptable horizontal drift speed (m/s)
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control::BlockParamExtFloat _requiredVdrift; // maximum acceptable vertical drift speed (m/s)
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control::BlockParamExtInt _param_record_replay_msg;// indicates if we want to record ekf2 replay messages
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control::BlockParamExtInt _gps_check_mask; ///< bitmask used to control which GPS quality checks are used
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control::BlockParamExtFloat _requiredEph; ///< maximum acceptable horiz position error (m)
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control::BlockParamExtFloat _requiredEpv; ///< maximum acceptable vert position error (m)
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control::BlockParamExtFloat _requiredSacc; ///< maximum acceptable speed error (m/s)
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control::BlockParamExtInt _requiredNsats; ///< minimum acceptable satellite count
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control::BlockParamExtFloat _requiredGDoP; ///< maximum acceptable geometric dilution of precision
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control::BlockParamExtFloat _requiredHdrift; ///< maximum acceptable horizontal drift speed (m/s)
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control::BlockParamExtFloat _requiredVdrift; ///< maximum acceptable vertical drift speed (m/s)
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control::BlockParamExtInt _param_record_replay_msg; ///< turns on recording of ekf2 replay messages
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// measurement source control
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control::BlockParamExtInt
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_fusion_mode; // bitmasked integer that selects which of the GPS and optical flow aiding sources will be used
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control::BlockParamExtInt _vdist_sensor_type; // selects the primary source for height data
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_fusion_mode; ///< bitmasked integer that selects which of the GPS and optical flow aiding sources will be used
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control::BlockParamExtInt _vdist_sensor_type; ///< selects the primary source for height data
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// range finder fusion
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control::BlockParamExtFloat _range_noise; // observation noise for range finder measurements (m)
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control::BlockParamExtFloat _range_noise_scaler; // scale factor from range to range noise (m/m)
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control::BlockParamExtFloat _range_innov_gate; // range finder fusion innovation consistency gate size (STD)
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control::BlockParamExtFloat _rng_gnd_clearance; // minimum valid value for range when on ground (m)
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control::BlockParamExtFloat _rng_pitch_offset; // range sensor pitch offset (rad)
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control::BlockParamExtFloat _range_noise; ///< observation noise for range finder measurements (m)
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control::BlockParamExtFloat _range_noise_scaler; ///< scale factor from range to range noise (m/m)
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control::BlockParamExtFloat _range_innov_gate; ///< range finder fusion innovation consistency gate size (STD)
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control::BlockParamExtFloat _rng_gnd_clearance; ///< minimum valid value for range when on ground (m)
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control::BlockParamExtFloat _rng_pitch_offset; ///< range sensor pitch offset (rad)
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control::BlockParamExtInt
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_rng_aid; // enables use of a range finder even if primary height source is not range finder (EKF2_HGT_MODE != 2)
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control::BlockParamExtFloat _rng_aid_hor_vel_max; // maximum allowed horizontal velocity for range aid
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control::BlockParamExtFloat _rng_aid_height_max; // maximum allowed absolute altitude (AGL) for range aid
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_rng_aid; ///< enables use of a range finder even if primary height source is not range finder (EKF2_HGT_MODE != 2)
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control::BlockParamExtFloat _rng_aid_hor_vel_max; ///< maximum allowed horizontal velocity for range aid (m/s)
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control::BlockParamExtFloat _rng_aid_height_max; ///< maximum allowed absolute altitude (AGL) for range aid (m)
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control::BlockParamExtFloat
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_rng_aid_innov_gate; // gate size used for innovation consistency checks for range aid fusion
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_rng_aid_innov_gate; ///< gate size used for innovation consistency checks for range aid fusion (STD)
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// vision estimate fusion
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control::BlockParamExtFloat _ev_pos_noise; // default position observation noise for exernal vision measurements (m)
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control::BlockParamExtFloat _ev_ang_noise; // default angular observation noise for exernal vision measurements (rad)
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control::BlockParamExtFloat _ev_innov_gate; // external vision position innovation consistency gate size (STD)
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control::BlockParamExtFloat _ev_pos_noise; ///< default position observation noise for exernal vision measurements (m)
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control::BlockParamExtFloat _ev_ang_noise; ///< default angular observation noise for exernal vision measurements (rad)
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control::BlockParamExtFloat _ev_innov_gate; ///< external vision position innovation consistency gate size (STD)
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// optical flow fusion
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control::BlockParamExtFloat
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_flow_noise; // best quality observation noise for optical flow LOS rate measurements (rad/sec)
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_flow_noise; ///< best quality observation noise for optical flow LOS rate measurements (rad/sec)
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control::BlockParamExtFloat
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_flow_noise_qual_min; // worst quality observation noise for optical flow LOS rate measurements (rad/sec)
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control::BlockParamExtInt _flow_qual_min; // minimum acceptable quality integer from the flow sensor
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control::BlockParamExtFloat _flow_innov_gate; // optical flow fusion innovation consistency gate size (STD)
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control::BlockParamExtFloat _flow_rate_max; // maximum valid optical flow rate (rad/sec)
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_flow_noise_qual_min; ///< worst quality observation noise for optical flow LOS rate measurements (rad/sec)
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control::BlockParamExtInt _flow_qual_min; ///< minimum acceptable quality integer from the flow sensor
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control::BlockParamExtFloat _flow_innov_gate; ///< optical flow fusion innovation consistency gate size (STD)
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control::BlockParamExtFloat _flow_rate_max; ///< maximum valid optical flow rate (rad/sec)
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// sensor positions in body frame
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control::BlockParamExtFloat _imu_pos_x; // X position of IMU in body frame (m)
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control::BlockParamExtFloat _imu_pos_y; // Y position of IMU in body frame (m)
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control::BlockParamExtFloat _imu_pos_z; // Z position of IMU in body frame (m)
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control::BlockParamExtFloat _gps_pos_x; // X position of GPS antenna in body frame (m)
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control::BlockParamExtFloat _gps_pos_y; // Y position of GPS antenna in body frame (m)
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control::BlockParamExtFloat _gps_pos_z; // Z position of GPS antenna in body frame (m)
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control::BlockParamExtFloat _rng_pos_x; // X position of range finder in body frame (m)
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control::BlockParamExtFloat _rng_pos_y; // Y position of range finder in body frame (m)
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control::BlockParamExtFloat _rng_pos_z; // Z position of range finder in body frame (m)
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control::BlockParamExtFloat _flow_pos_x; // X position of optical flow sensor focal point in body frame (m)
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control::BlockParamExtFloat _flow_pos_y; // Y position of optical flow sensor focal point in body frame (m)
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control::BlockParamExtFloat _flow_pos_z; // Z position of optical flow sensor focal point in body frame (m)
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control::BlockParamExtFloat _ev_pos_x; // X position of VI sensor focal point in body frame (m)
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control::BlockParamExtFloat _ev_pos_y; // Y position of VI sensor focal point in body frame (m)
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control::BlockParamExtFloat _ev_pos_z; // Z position of VI sensor focal point in body frame (m)
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control::BlockParamExtFloat _imu_pos_x; ///< X position of IMU in body frame (m)
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control::BlockParamExtFloat _imu_pos_y; ///< Y position of IMU in body frame (m)
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control::BlockParamExtFloat _imu_pos_z; ///< Z position of IMU in body frame (m)
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control::BlockParamExtFloat _gps_pos_x; ///< X position of GPS antenna in body frame (m)
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||||
control::BlockParamExtFloat _gps_pos_y; ///< Y position of GPS antenna in body frame (m)
|
||||
control::BlockParamExtFloat _gps_pos_z; ///< Z position of GPS antenna in body frame (m)
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||||
control::BlockParamExtFloat _rng_pos_x; ///< X position of range finder in body frame (m)
|
||||
control::BlockParamExtFloat _rng_pos_y; ///< Y position of range finder in body frame (m)
|
||||
control::BlockParamExtFloat _rng_pos_z; ///< Z position of range finder in body frame (m)
|
||||
control::BlockParamExtFloat _flow_pos_x; ///< X position of optical flow sensor focal point in body frame (m)
|
||||
control::BlockParamExtFloat _flow_pos_y; ///< Y position of optical flow sensor focal point in body frame (m)
|
||||
control::BlockParamExtFloat _flow_pos_z; ///< Z position of optical flow sensor focal point in body frame (m)
|
||||
control::BlockParamExtFloat _ev_pos_x; ///< X position of VI sensor focal point in body frame (m)
|
||||
control::BlockParamExtFloat _ev_pos_y; ///< Y position of VI sensor focal point in body frame (m)
|
||||
control::BlockParamExtFloat _ev_pos_z; ///< Z position of VI sensor focal point in body frame (m)
|
||||
|
||||
// control of airspeed and sideslip fusion
|
||||
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
|
||||
_arspFusionThreshold; ///< A value of zero will disabled airspeed fusion. Any positive value sets the minimum airspeed which will be used (m/sec)
|
||||
control::BlockParamInt _fuseBeta; ///< Controls synthetic sideslip fusion, 0 disables, 1 enables
|
||||
|
||||
// output predictor filter time constants
|
||||
control::BlockParamExtFloat _tau_vel; // time constant used by the output velocity complementary filter (s)
|
||||
control::BlockParamExtFloat _tau_pos; // time constant used by the output position complementary filter (s)
|
||||
control::BlockParamExtFloat _tau_vel; ///< time constant used by the output velocity complementary filter (sec)
|
||||
control::BlockParamExtFloat _tau_pos; ///< time constant used by the output position complementary filter (sec)
|
||||
|
||||
// IMU switch on bias paameters
|
||||
control::BlockParamExtFloat _gyr_bias_init; // 1-sigma gyro bias uncertainty at switch-on (rad/sec)
|
||||
control::BlockParamExtFloat _acc_bias_init; // 1-sigma accelerometer bias uncertainty at switch-on (m/s**2)
|
||||
control::BlockParamExtFloat _ang_err_init; // 1-sigma uncertainty in tilt angle after gravity vector alignment (rad)
|
||||
control::BlockParamExtFloat _gyr_bias_init; ///< 1-sigma gyro bias uncertainty at switch on (rad/sec)
|
||||
control::BlockParamExtFloat _acc_bias_init; ///< 1-sigma accelerometer bias uncertainty at switch on (m/sec**2)
|
||||
control::BlockParamExtFloat _ang_err_init; ///< 1-sigma tilt error after initial alignment using gravity vector (rad)
|
||||
|
||||
// airspeed mode parameter
|
||||
control::BlockParamInt _airspeed_mode;
|
||||
|
||||
// EKF saved XYZ magnetometer bias values
|
||||
control::BlockParamFloat _mag_bias_x; // X bias (mGauss)
|
||||
control::BlockParamFloat _mag_bias_y; // Y bias (mGauss)
|
||||
control::BlockParamFloat _mag_bias_z; // Z bias (mGauss)
|
||||
control::BlockParamInt _mag_bias_id; // ID for the sensor used to learn the bias values
|
||||
control::BlockParamFloat _mag_bias_x; ///< X magnetometer bias (mGauss)
|
||||
control::BlockParamFloat _mag_bias_y; ///< Y magnetometer bias (mGauss)
|
||||
control::BlockParamFloat _mag_bias_z; ///< Z magnetometer bias (mGauss)
|
||||
control::BlockParamInt _mag_bias_id; ///< ID of the magnetometer sensor used to learn the bias values
|
||||
control::BlockParamFloat
|
||||
_mag_bias_saved_variance; // Assumed error variance of previously saved magnetometer bias estimates (mGauss**2)
|
||||
control::BlockParamFloat _mag_bias_alpha; // maximum fraction of the learned bias that is applied each disarm
|
||||
_mag_bias_saved_variance; ///< Assumed error variance of previously saved magnetometer bias estimates (mGauss**2)
|
||||
control::BlockParamFloat
|
||||
_mag_bias_alpha; ///< maximum fraction of the learned magnetometer bias that is saved at each disarm
|
||||
|
||||
};
|
||||
|
||||
|
||||
Reference in New Issue
Block a user