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bresch
48 lines
1.6 KiB
YAML
48 lines
1.6 KiB
YAML
module_name: ekf2
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parameters:
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- group: EKF2
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definitions:
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EKF2_SEL_ERR_RED:
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description:
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short: Selector error reduce threshold
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long: EKF2 instances have to be better than the selected by at least this
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amount before their relative score can be reduced.
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type: float
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default: 0.2
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EKF2_SEL_IMU_RAT:
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description:
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short: Selector angular rate threshold
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long: EKF2 selector angular rate error threshold for comparing gyros. Angular
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rate vector differences larger than this will result in accumulated angular
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error.
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type: float
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default: 7.0
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unit: deg/s
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EKF2_SEL_IMU_ANG:
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description:
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short: Selector angular threshold
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long: EKF2 selector maximum accumulated angular error threshold for comparing
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gyros. Accumulated angular error larger than this will result in the sensor
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being declared faulty.
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type: float
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default: 15.0
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unit: deg
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EKF2_SEL_IMU_ACC:
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description:
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short: Selector acceleration threshold
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long: EKF2 selector acceleration error threshold for comparing accelerometers.
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Acceleration vector differences larger than this will result in accumulated
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velocity error.
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type: float
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default: 1.0
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unit: m/s^2
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EKF2_SEL_IMU_VEL:
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description:
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short: Selector angular threshold
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long: EKF2 selector maximum accumulated velocity threshold for comparing accelerometers.
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Accumulated velocity error larger than this will result in the sensor being
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declared faulty.
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type: float
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default: 2.0
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unit: m/s
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