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EKF: Enable compensation for static pressure positional error (#7264)

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* msg: add reporting of multi rotor drag fusion

* ekf2: add reporting of multi rotor drag fusion

* ekf2: Add parameters required to tune multi-rotor wind estimation

* ekf2: Add correction for static pressure position error

* ekf2: Use correct air density for position error corrections

* ekf2: fix parameter documentation error

* ekf2: Add separate forward and reverse position error correction factors

* ekf2: Fix formatting and parameter descriptions

* ekf2: Improve comments
This commit is contained in:
Paul Riseborough
2017-08-01 07:29:08 +10:00
committed by GitHub
parent 02ea10ed99
commit 08059caf89
3 changed files with 188 additions and 6 deletions
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msg/ekf2_innovations.msg
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@@ -13,3 +13,5 @@ float32 beta_innov_var # synthetic sideslip innovation variance
float32[2] flow_innov_var # flow innovation variance
float32 hagl_innov_var # innovation variance from the terrain estimator for the height above ground level measurement (m^2)
float32[3] output_tracking_error # return a vector containing the output predictor angular, velocity and position tracking error magnitudes (rad), (m/s), (m)
float32[2] drag_innov # drag specific force innovation (m/s/s)
float32[2] drag_innov_var # drag specific force innovation variance (m/s/s)**2