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wind estimator: added airspeed and sideslip gate sizes for innovation tests

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Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2018-03-21 15:23:19 +01:00
committed by Roman Bapst
parent 32a848d312
commit 372a519ac4
2 changed files with 29 additions and 1 deletions
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src/modules/wind_estimator/wind_estimator_main.cpp
+5 -1
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@@ -93,7 +93,9 @@ private:
(ParamFloat<px4::params::WEST_W_P_NOISE>) wind_p_noise, (ParamFloat<px4::params::WEST_W_P_NOISE>) wind_p_noise,
(ParamFloat<px4::params::WEST_SC_P_NOISE>) tas_scale_p_noise, (ParamFloat<px4::params::WEST_SC_P_NOISE>) tas_scale_p_noise,
(ParamFloat<px4::params::WEST_TAS_NOISE>) tas_noise, (ParamFloat<px4::params::WEST_TAS_NOISE>) tas_noise,
(ParamFloat<px4::params::WEST_BETA_NOISE>) beta_noise (ParamFloat<px4::params::WEST_BETA_NOISE>) beta_noise,
(ParamInt<px4::params::WEST_TAS_GATE>) airspeed_gate,
(ParamInt<px4::params::WEST_BETA_GATE>) sideslip_gate
) )
static void cycle_trampoline(void *arg); static void cycle_trampoline(void *arg);
@@ -274,6 +276,8 @@ void WindEstimatorModule::update_params()
_wind_estimator.set_tas_scale_p_noise(tas_scale_p_noise.get()); _wind_estimator.set_tas_scale_p_noise(tas_scale_p_noise.get());
_wind_estimator.set_tas_noise(tas_noise.get()); _wind_estimator.set_tas_noise(tas_noise.get());
_wind_estimator.set_beta_noise(beta_noise.get()); _wind_estimator.set_beta_noise(beta_noise.get());
_wind_estimator.set_tas_gate(airspeed_gate.get());
_wind_estimator.set_beta_gate(sideslip_gate.get());
} }
int WindEstimatorModule::custom_command(int argc, char *argv[]) int WindEstimatorModule::custom_command(int argc, char *argv[])
src/modules/wind_estimator/wind_estimator_params.c
+24
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@@ -36,3 +36,27 @@ PARAM_DEFINE_FLOAT(WEST_TAS_NOISE, 1.4);
* @group Wind Estimator * @group Wind Estimator
*/ */
PARAM_DEFINE_FLOAT(WEST_BETA_NOISE, 0.3); PARAM_DEFINE_FLOAT(WEST_BETA_NOISE, 0.3);
/**
* Gate size for true airspeed fusion.
*
* Sets the number of standard deviations used by the innovation consistency test.
*
* @min 1
* @max 5
* @unit SD
* @group Wind Estimator
*/
PARAM_DEFINE_INT32(WEST_TAS_GATE, 3);
/**
* Gate size for true sideslip fusion.
*
* Sets the number of standard deviations used by the innovation consistency test.
*
* @min 1
* @max 5
* @unit SD
* @group Wind Estimator
*/
PARAM_DEFINE_INT32(WEST_BETA_GATE, 1);