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1d852907a2
Add per-instance parameters for auxiliary global position sources, allowing configuration of up to 4 AGP slots with individual source IDs.
78 lines
2.3 KiB
YAML
78 lines
2.3 KiB
YAML
__max_num_agp_instances: &max_num_agp_instances 4
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module_name: ekf2
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parameters:
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- group: EKF2
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definitions:
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EKF2_AGP${i}_ID:
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description:
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short: Auxiliary global position sensor ${i} ID
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long: 'Sensor ID for slot ${i}. Set to 0 to disable this slot.'
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type: int32
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default: 0
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min: 0
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max: 255
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num_instances: *max_num_agp_instances
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instance_start: 0
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EKF2_AGP${i}_CTRL:
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description:
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short: Auxiliary global position sensor ${i} aiding
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long: 'Set bits in the following positions to enable: 0 : Horizontal position
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fusion 1 : Vertical position fusion'
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type: bitmask
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bit:
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0: Horizontal position
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1: Vertical position
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default: 0
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min: 0
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max: 3
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num_instances: *max_num_agp_instances
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instance_start: 0
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EKF2_AGP${i}_MODE:
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description:
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short: Fusion reset mode for sensor ${i}
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long: 'Automatic: reset on fusion timeout if no other source of position is available
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Dead-reckoning: reset on fusion timeout if no source of velocity is available'
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type: enum
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values:
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0: Automatic
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1: Dead-reckoning
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default: 0
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num_instances: *max_num_agp_instances
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instance_start: 0
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EKF2_AGP${i}_DELAY:
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description:
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short: Auxiliary global position sensor ${i} delay (to IMU)
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type: float
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default: 0
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min: 0
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max: 1000
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unit: ms
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reboot_required: true
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decimal: 1
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num_instances: *max_num_agp_instances
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instance_start: 0
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EKF2_AGP${i}_NOISE:
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description:
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short: Measurement noise for auxiliary global position sensor ${i}
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long: Used to lower bound or replace the uncertainty included in the message
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type: float
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default: 1.0
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min: 0.01
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unit: m
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decimal: 2
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num_instances: *max_num_agp_instances
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instance_start: 0
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EKF2_AGP${i}_GATE:
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description:
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short: Gate size for auxiliary global position sensor ${i} fusion
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long: Sets the number of standard deviations used by the innovation consistency
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test.
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type: float
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default: 3.0
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min: 1.0
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unit: SD
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decimal: 1
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num_instances: *max_num_agp_instances
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instance_start: 0
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