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ekf2: add kconfig option to enable/disable drag fusion

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This commit is contained in:
Daniel Agar
2023-03-20 10:12:17 -04:00
parent 9a56b0a70d
commit fe0e3acf09
11 changed files with 115 additions and 55 deletions
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src/modules/ekf2/EKF2.hpp
+3 -1
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@@ -1,6 +1,6 @@
/****************************************************************************
*
* Copyright (c) 2015-2022 PX4 Development Team. All rights reserved.
* Copyright (c) 2015-2023 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
@@ -613,12 +613,14 @@ private:
(ParamExtFloat<px4::params::EKF2_GYR_B_LIM>) _param_ekf2_gyr_b_lim, ///< Gyro bias learning limit (rad/s)
#if defined(CONFIG_EKF2_DRAG_FUSION)
// Multi-rotor drag specific force fusion
(ParamExtFloat<px4::params::EKF2_DRAG_NOISE>)
_param_ekf2_drag_noise, ///< observation noise variance for drag specific force measurements (m/sec**2)**2
(ParamExtFloat<px4::params::EKF2_BCOEF_X>) _param_ekf2_bcoef_x, ///< ballistic coefficient along the X-axis (kg/m**2)
(ParamExtFloat<px4::params::EKF2_BCOEF_Y>) _param_ekf2_bcoef_y, ///< ballistic coefficient along the Y-axis (kg/m**2)
(ParamExtFloat<px4::params::EKF2_MCOEF>) _param_ekf2_mcoef, ///< propeller momentum drag coefficient (1/s)
#endif // CONFIG_EKF2_DRAG_FUSION
// Corrections for static pressure position error where Ps_error = Ps_meas - Ps_truth
// Coef = Ps_error / Pdynamic, where Pdynamic = 1/2 * density * TAS**2