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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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Daniel Agar
104 lines
3.0 KiB
YAML
104 lines
3.0 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_OF_CTRL:
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description:
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short: Optical flow aiding
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long: Enable optical flow fusion.
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type: boolean
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default: 1
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EKF2_OF_DELAY:
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description:
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short: Optical flow measurement delay relative to IMU measurements
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long: Assumes measurement is timestamped at trailing edge of integration period
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type: float
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default: 20
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min: 0
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max: 300
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unit: ms
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reboot_required: true
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decimal: 1
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EKF2_OF_GATE:
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description:
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short: Gate size for optical flow 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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EKF2_OF_N_MIN:
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description:
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short: Optical flow minimum noise
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long: Measurement noise for the optical flow sensor when it's reported quality
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metric is at the maximum
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type: float
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default: 0.15
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min: 0.05
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unit: rad/s
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decimal: 2
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EKF2_OF_N_MAX:
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description:
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short: Optical flow maximum noise
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long: Measurement noise for the optical flow sensor when it's reported quality
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metric is at the minimum
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type: float
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default: 0.5
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min: 0.05
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unit: rad/s
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decimal: 2
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EKF2_OF_QMIN:
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description:
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short: In air optical flow minimum quality
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long: Optical Flow data will only be used in air if the sensor reports a
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quality metric >= EKF2_OF_QMIN
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type: int32
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default: 1
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min: 0
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max: 255
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EKF2_OF_QMIN_GND:
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description:
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short: On ground optical flow minimum quality
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long: Optical Flow data will only be used on the ground if the sensor reports
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a quality metric >= EKF2_OF_QMIN_GND
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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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EKF2_OF_GYR_SRC:
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description:
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short: Optical flow angular rate compensation source
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long: 'Auto: use gyro from optical flow message if available, internal gyro otherwise.
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Internal: always use internal gyro'
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type: enum
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values:
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0: Auto
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1: Internal
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default: 0
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EKF2_OF_POS_X:
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description:
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short: X position of optical flow focal point in body frame
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long: Forward axis with origin relative to vehicle centre of gravity
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type: float
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default: 0.0
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unit: m
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decimal: 3
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EKF2_OF_POS_Y:
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description:
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short: Y position of optical flow focal point in body frame
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long: Forward axis with origin relative to vehicle centre of gravity
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type: float
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default: 0.0
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unit: m
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decimal: 3
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EKF2_OF_POS_Z:
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description:
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short: Z position of optical flow focal point in body frame
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long: Forward axis with origin relative to vehicle centre of gravity
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type: float
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default: 0.0
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unit: m
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decimal: 3
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