mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-07-09 11:10:35 +08:00
Daniel Agar
131 lines
4.1 KiB
YAML
131 lines
4.1 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_BARO_CTRL:
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description:
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short: Barometric sensor height aiding
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long: If this parameter is enabled then the estimator will make use of the
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barometric height measurements to estimate its height in addition to other
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height sources (if activated).
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type: boolean
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default: 1
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EKF2_BARO_DELAY:
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description:
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short: Barometer measurement delay relative to IMU measurements
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type: float
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default: 0
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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_BARO_GATE:
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description:
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short: Gate size for barometric and GPS height 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: 5.0
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min: 1.0
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unit: SD
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decimal: 1
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EKF2_BARO_NOISE:
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description:
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short: Measurement noise for barometric altitude
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type: float
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default: 3.5
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min: 0.01
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max: 15.0
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unit: m
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decimal: 2
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EKF2_GND_EFF_DZ:
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description:
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short: Baro deadzone range for height fusion
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long: Sets the value of deadzone applied to negative baro innovations. Deadzone
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is enabled when EKF2_GND_EFF_DZ > 0.
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type: float
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default: 4.0
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min: 0.0
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max: 10.0
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unit: m
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decimal: 1
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EKF2_GND_MAX_HGT:
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description:
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short: Height above ground level for ground effect zone
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long: Sets the maximum distance to the ground level where negative baro innovations
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are expected.
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type: float
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default: 0.5
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min: 0.0
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max: 5.0
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unit: m
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decimal: 1
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EKF2_PCOEF_XP:
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description:
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short: Static pressure position error coefficient for the positive X axis
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long: This is the ratio of static pressure error to dynamic pressure generated
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by a positive wind relative velocity along the X body axis. If the baro
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height estimate rises during forward flight, then this will be a negative
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number.
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type: float
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default: 0.0
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min: -0.5
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max: 0.5
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decimal: 2
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EKF2_PCOEF_XN:
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description:
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short: Static pressure position error coefficient for the negative X axis
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long: This is the ratio of static pressure error to dynamic pressure generated
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by a negative wind relative velocity along the X body axis. If the baro
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height estimate rises during backwards flight, then this will be a negative
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number.
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type: float
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default: 0.0
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min: -0.5
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max: 0.5
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decimal: 2
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EKF2_PCOEF_YP:
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description:
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short: Pressure position error coefficient for the positive Y axis
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long: This is the ratio of static pressure error to dynamic pressure generated
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by a wind relative velocity along the positive Y (RH) body axis. If the
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baro height estimate rises during sideways flight to the right, then this
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will be a negative number.
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type: float
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default: 0.0
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min: -0.5
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max: 0.5
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decimal: 2
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EKF2_PCOEF_YN:
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description:
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short: Pressure position error coefficient for the negative Y axis
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long: This is the ratio of static pressure error to dynamic pressure generated
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by a wind relative velocity along the negative Y (LH) body axis. If the
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baro height estimate rises during sideways flight to the left, then this
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will be a negative number.
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type: float
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default: 0.0
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min: -0.5
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max: 0.5
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decimal: 2
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EKF2_PCOEF_Z:
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description:
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short: Static pressure position error coefficient for the Z axis
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long: This is the ratio of static pressure error to dynamic pressure generated
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by a wind relative velocity along the Z body axis.
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type: float
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default: 0.0
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min: -0.5
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max: 0.5
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decimal: 2
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EKF2_ASPD_MAX:
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description:
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short: Maximum airspeed used for baro static pressure compensation
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type: float
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default: 20.0
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min: 5.0
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max: 50.0
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unit: m/s
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decimal: 1
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