Mirrors_Framework/PX4-Autopilot
1
0
Fork 0
mirror of https://github.com/PX4/PX4-Autopilot.git synced 2026-06-07 17:35:22 +08:00
Code Issues Actions 30 Packages Projects Releases Wiki Activity

ekf2: added parameter for range sensor pitch offset

Browse Source 
Signed-off-by: Roman <bapstroman@gmail.com>
This commit is contained in:
Roman
2017-02-22 15:39:36 +01:00
committed by Lorenz Meier
parent 3fdbe13857
commit 4bffb1478f
2 changed files with 13 additions and 0 deletions
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/ekf2_main.cpp
+2
View File
@@ -233,6 +233,7 @@ private:
control::BlockParamExtFloat _range_noise; // observation noise for range finder measurements (m)
control::BlockParamExtFloat _range_innov_gate; // range finder fusion innovation consistency gate size (STD)
control::BlockParamExtFloat _rng_gnd_clearance; // minimum valid value for range when on ground (m)
control::BlockParamExtFloat _rng_pitch_offset; // range sensor pitch offset (rad)
// vision estimate fusion
control::BlockParamExtFloat _ev_pos_noise; // default position observation noise for exernal vision measurements (m)
@@ -351,6 +352,7 @@ Ekf2::Ekf2():
_range_noise(this, "EKF2_RNG_NOISE", false, _params->range_noise),
_range_innov_gate(this, "EKF2_RNG_GATE", false, _params->range_innov_gate),
_rng_gnd_clearance(this, "EKF2_MIN_RNG", false, _params->rng_gnd_clearance),
_rng_pitch_offset(this, "EKF2_RNG_PITCH", false, _params->rng_sens_pitch),
_ev_pos_noise(this, "EKF2_EVP_NOISE", false, _default_ev_pos_noise),
_ev_ang_noise(this, "EKF2_EVA_NOISE", false, _default_ev_ang_noise),
_ev_innov_gate(this, "EKF2_EV_GATE", false, _params->ev_innov_gate),
src/modules/ekf2/ekf2_params.c
+11
View File
@@ -895,3 +895,14 @@ PARAM_DEFINE_FLOAT(EKF2_ABIAS_INIT, 0.2f);
* @decimal 3
*/
PARAM_DEFINE_FLOAT(EKF2_ANGERR_INIT, 0.1f);
/**
* Range sensor pitch offset.
*
* @group EKF2
* @min -0.75
* @max 0.75
* @unit rad
* @decimal 3
*/
PARAM_DEFINE_FLOAT(EKF2_RNG_PITCH, 0.0f);