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ekf2: Add tuning parameters for GPS and Baro innovation gates

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This commit is contained in:
Paul Riseborough
2016-01-30 22:35:20 +11:00
committed by Roman
parent 6ffcca4b8f
commit 92f0032475
2 changed files with 27 additions and 0 deletions
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6
src/modules/ekf2/ekf2_main.cpp
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@@ -162,6 +162,9 @@ private:
control::BlockParamFloat *_gps_vel_noise;
control::BlockParamFloat *_gps_pos_noise;
control::BlockParamFloat *_baro_noise;
control::BlockParamFloat *_baro_innov_gate; // innovation gate for barometric height innovation test (std dev)
control::BlockParamFloat *_posNE_innov_gate; // innovation gate for GPS horizontal position innovation test (std dev)
control::BlockParamFloat *_vel_innov_gate; // innovation gate for GPS velocity innovation test (std dev)
control::BlockParamFloat *_mag_heading_noise; // measurement noise used for simple heading fusion
control::BlockParamFloat *_mag_declination_deg; // magnetic declination in degrees
@@ -214,6 +217,9 @@ Ekf2::Ekf2():
_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);
_baro_noise = new control::BlockParamFloat(this, "EKF2_BARO_NOISE", false, &params->baro_noise);
_baro_innov_gate = new control::BlockParamFloat(this, "EKF2_BARO_GATE", false, &params->baro_innov_gate);
_posNE_innov_gate = new control::BlockParamFloat(this, "EKF2_GPS_P_GATE", false, &params->posNE_innov_gate);
_vel_innov_gate = new control::BlockParamFloat(this, "EKF2_GPS_V_GATE", false, &params->vel_innov_gate);
_mag_heading_noise = new control::BlockParamFloat(this, "EKF2_HEAD_NOISE", false, &params->mag_heading_noise);
_mag_declination_deg = new control::BlockParamFloat(this, "EKF2_MAG_DECL", false, &params->mag_declination_deg);