added parameter interface to ekf2

2026-10-31 03:41:35 +08:00 · 2016-01-10 21:14:58 +01:00
parent 4b659f1995
commit fe07079367
2 changed files with 288 additions and 4 deletions
@@ -0,0 +1,226 @@
+/****************************************************************************
+ *
+ *   Copyright (c) 2015 Estimation and Control Library (ECL). All rights reserved.
+ *
+ * Redistribution and use in source and binary forms, with or without
+ * modification, are permitted provided that the following conditions
+ * are met:
+ *
+ * 1. Redistributions of source code must retain the above copyright
+ *    notice, this list of conditions and the following disclaimer.
+ * 2. Redistributions in binary form must reproduce the above copyright
+ *    notice, this list of conditions and the following disclaimer in
+ *    the documentation and/or other materials provided with the
+ *    distribution.
+ * 3. Neither the name ECL nor the names of its contributors may be
+ *    used to endorse or promote products derived from this software
+ *    without specific prior written permission.
+ *
+ * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
+ * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
+ * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
+ * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
+ * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
+ * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
+ * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
+ * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
+ * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
+ * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
+ * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
+ * POSSIBILITY OF SUCH DAMAGE.
+ *
+ ****************************************************************************/
+
+/**
+ * @file parameters.c
+ * Parameter definition for ekf2.
+ *
+ * @author Roman Bast <bapstroman@gmail.com>
+ *
+ */
+
+#include <systemlib/param/param.h>
+
+/**
+* Magnetometer measurement delay
+*
+* @group EKF2
+* @min 0
+* @max 300
+* @unit ms
+*/
+PARAM_DEFINE_FLOAT(EKF2_MAG_DELAY, 0);
+
+/**
+ * Barometer measurement delay
+ *
+ * @group EKF2
+ * @min 0
+ * @max 300
+ * @unit ms
+ */
+PARAM_DEFINE_FLOAT(EKF2_BARO_DELAY, 0);
+
+/**
+ * GPS measurement delay
+ *
+ * @group EKF2
+ * @min 0
+ * @max 300
+ * @unit ms
+ */
+PARAM_DEFINE_FLOAT(EKF2_GPS_DELAY, 200);
+
+/**
+ * Airspeed measurement delay
+ *
+ * @group EKF2
+ * @min 0
+ * @max 300
+ * @unit ms
+ */
+PARAM_DEFINE_FLOAT(EKF2_ASP_DELAY, 200);
+
+/**
+ * Required EPH to use GPS.
+ *
+ * @group EKF2
+ * @min 2
+ * @max 100
+ * @unit m
+ */
+PARAM_DEFINE_FLOAT(EKF2_REQ_EPH, 10);
+
+/**
+ * Required EPV to use GPS.
+ *
+ * @group EKF2
+ * @min 2
+ * @max 100
+ * @unit m
+ */
+PARAM_DEFINE_FLOAT(EKF2_REQ_EPV, 20);
+
+/**
+ * Gyro noise.
+ *
+ * @group EKF2
+ * @min 0.0001
+ * @max 0.05
+ */
+PARAM_DEFINE_FLOAT(EKF2_G_NOISE, 0.001f);
+
+/**
+ * Process noise for delta velocity prediction.
+ *
+ * @group EKF2
+ * @min 0.01
+ * @max 1
+ * @unit
+ */
+PARAM_DEFINE_FLOAT(EKF2_ACC_NOISE, 0.1f);
+
+/**
+ * Process noise for delta angle bias prediction.
+ *
+ * @group EKF2
+ * @min 0
+ * @max 0.0001
+ * @unit
+ */
+PARAM_DEFINE_FLOAT(EKF2_GB_NOISE, 1e-5f);
+
+/**
+ * Process noise for delta velocity z bias prediction.
+ *
+ * @group EKF2
+ * @min 0.000001
+ * @max 0.01
+ * @unit
+ */
+PARAM_DEFINE_FLOAT(EKF2_ACCB_NOISE, 1e-3f);
+
+/**
+ * Process noise for delta angle scale prediction.
+ *
+ * @group EKF2
+ * @min 0.000001
+ * @max 0.01
+ * @unit
+ */
+PARAM_DEFINE_FLOAT(EKF2_GS_NOISE, 1e-4f);
+
+/**
+ * Process noise for earth magnetic field and bias prediction.
+ *
+ * @group EKF2
+ * @min 0.0001
+ * @max 0.1
+ * @unit
+ */
+PARAM_DEFINE_FLOAT(EKF2_MAG_NOISE, 1e-2f);
+
+/**
+ * Process noise for wind velocity prediction.
+ *
+ * @group EKF2
+ * @min 0.01
+ * @max 1
+ * @unit
+ */
+PARAM_DEFINE_FLOAT(EKF2_WIND_NOISE, 0.05f);
+
+/**
+ * Measurement noise for gps velocity.
+ *
+ * @group EKF2
+ * @min 0.001
+ * @max 0.5
+ * @unit
+ */
+PARAM_DEFINE_FLOAT(EKF2_GPS_V_NOISE, 0.05f);
+
+/**
+ * Measurement noise for gps position.
+ *
+ * @group EKF2
+ * @min 0.01
+ * @max 5
+ * @unit
+ */
+PARAM_DEFINE_FLOAT(EKF2_GPS_P_NOISE, 1.0f);
+
+/**
+ * Measurement noise for barometer.
+ *
+ * @group EKF2
+ * @min 0.001
+ * @max 1
+ * @unit
+ */
+PARAM_DEFINE_FLOAT(EKF2_BARO_NOISE, 0.1f);
+
+/**
+ * Measurement noise for mag heading fusion.
+ *
+ * @group EKF2
+ * @min 0.0001
+ * @max 0.1
+ * @unit
+ */
+PARAM_DEFINE_FLOAT(EKF2_HEAD_NOISE, 3e-2f);
+
+/**
+ * Magnetic declination
+ *
+ * @group EKF2
+ * @unit degrees
+ */
+PARAM_DEFINE_FLOAT(EKF2_MAG_DECL, 0);
+
+/**
+ * Gate for maginetic heading fusion
+ *
+ * @group EKF2
+ */
+PARAM_DEFINE_FLOAT(EKF2_H_INOV_GATE, 0.5f);