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ekf2: Enable tuning of terrain estimator

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This commit is contained in:
Paul Riseborough
2016-03-09 12:11:46 +11:00
committed by Lorenz Meier
parent 735f2942c8
commit 1ca857404f
2 changed files with 22 additions and 0 deletions
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4
src/modules/ekf2/ekf2_main.cpp
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@@ -172,6 +172,8 @@ private:
control::BlockParamFloat *_gyro_scale_p_noise;
control::BlockParamFloat *_mag_p_noise;
control::BlockParamFloat *_wind_vel_p_noise;
control::BlockParamFloat *_terrain_p_noise; // terrain offset state random walk (m/s)
control::BlockParamFloat *_terrain_gradient; // magnitude of terrain gradient (m/m)
control::BlockParamFloat *_gps_vel_noise;
control::BlockParamFloat *_gps_pos_noise;
@@ -246,6 +248,8 @@ Ekf2::Ekf2():
_gyro_scale_p_noise(new control::BlockParamFloat(this, "EKF2_GYR_S_NOISE", false, &_params->gyro_scale_p_noise)),
_mag_p_noise(new control::BlockParamFloat(this, "EKF2_MAG_B_NOISE", false, &_params->mag_p_noise)),
_wind_vel_p_noise(new control::BlockParamFloat(this, "EKF2_WIND_NOISE", false, &_params->wind_vel_p_noise)),
_terrain_p_noise(new control::BlockParamFloat(this, "EKF2_TERR_NOISE", false, &_params->terrain_p_noise)),
_terrain_gradient(new control::BlockParamFloat(this, "EKF2_TERR_GRAD", false, &_params->terrain_gradient)),
_gps_vel_noise(new control::BlockParamFloat(this, "EKF2_GPS_V_NOISE", false, &_params->gps_vel_noise)),
_gps_pos_noise(new control::BlockParamFloat(this, "EKF2_GPS_P_NOISE", false, &_params->gps_pos_noise)),
_pos_noaid_noise(new control::BlockParamFloat(this, "EKF2_NOAID_NOISE", false, &_params->pos_noaid_noise)),

18
src/modules/ekf2/ekf2_params.c
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@@ -484,3 +484,21 @@ PARAM_DEFINE_FLOAT(EKF2_OF_GATE, 3.0f);
* @unit rad/sec
*/
PARAM_DEFINE_FLOAT(EKF2_OF_RMAX, 2.5f);
/**
* Terrain altitude process noise - accounts for instability in vehicle height estimate
*
* @group EKF2
* @min 0.5
* @unit m/sec
*/
PARAM_DEFINE_FLOAT(EKF2_TERR_NOISE, 5.0f);
/**
* Magnitude of terrain gradient
*
* @group EKF2
* @min 0.0
* @unit m/m
*/
PARAM_DEFINE_FLOAT(EKF2_TERR_GRAD, 0.5f);