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https://gitee.com/mirrors_PX4/PX4-Autopilot.git
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88f8da27ef
- handle saving the mag bias per sensor (across all estimator instances using that mag) in sensors/vehicle_magnetometer
- this is now saving back to the actual mag calibration CAL_MAGn_OFF{X,Y,Z}
- ekf2 reset mag mag bias on any magnetometer or calibration change
- use Kalman filter scheme to update stored mag bias parameters using all available bias estimates for that sensor
Co-authored-by: Paul Riseborough <gncsolns@gmail.com>
82 lines
3.1 KiB
C
82 lines
3.1 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2020 PX4 Development Team. All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name PX4 nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* Selector error reduce threshold
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*
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* EKF2 instances have to be better than the selected by at least this amount before their relative score can be reduced.
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*
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* @group EKF2
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*/
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PARAM_DEFINE_FLOAT(EKF2_SEL_ERR_RED, 0.2f);
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/**
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* Selector angular rate threshold
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*
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* EKF2 selector angular rate error threshold for comparing gyros. Angular rate vector differences larger than this will result in accumulated angular error.
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*
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* @group EKF2
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* @unit deg/s
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*/
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PARAM_DEFINE_FLOAT(EKF2_SEL_IMU_RAT, 7.0f);
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/**
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* Selector angular threshold.
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*
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* EKF2 selector maximum accumulated angular error threshold for comparing gyros. Accumulated angular error larger than this will result in the sensor being declared faulty.
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*
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* @group EKF2
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* @unit deg
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*/
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PARAM_DEFINE_FLOAT(EKF2_SEL_IMU_ANG, 15.0f);
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/**
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* Selector acceleration threshold
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*
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* EKF2 selector acceleration error threshold for comparing accelerometers. Acceleration vector differences larger than this will result in accumulated velocity error.
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*
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* @group EKF2
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* @unit m/s^2
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*/
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PARAM_DEFINE_FLOAT(EKF2_SEL_IMU_ACC, 1.0f);
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/**
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* Selector angular threshold.
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*
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* EKF2 selector maximum accumulated velocity threshold for comparing accelerometers. Accumulated velocity error larger than this will result in the sensor being declared faulty.
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*
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* @group EKF2
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* @unit m/s
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*/
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PARAM_DEFINE_FLOAT(EKF2_SEL_IMU_VEL, 2.0f);
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