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add parameter to enable/disable ground effect zone

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This commit is contained in:
Elia Tarasov
2019-03-05 17:53:39 +03:00
committed by Roman Bapst
parent ecc8a696d0
commit 5fa0a647e5
2 changed files with 30 additions and 1 deletions
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src/modules/ekf2/ekf2_main.cpp
+7 -1
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@@ -337,6 +337,10 @@ private:
(ParamExtFloat<px4::params::EKF2_BARO_NOISE>) _baro_noise, ///< observation noise for barometric height fusion (m) (ParamExtFloat<px4::params::EKF2_BARO_NOISE>) _baro_noise, ///< observation noise for barometric height fusion (m)
(ParamExtFloat<px4::params::EKF2_BARO_GATE>) (ParamExtFloat<px4::params::EKF2_BARO_GATE>)
_baro_innov_gate, ///< barometric height innovation consistency gate size (STD) _baro_innov_gate, ///< barometric height innovation consistency gate size (STD)
(ParamInt<px4::params::EKF2_GND_EFF_EN>)
_enable_gnd_effect, ///< Controls barometric deadzone fusion, 0 disables, 1 enables
(ParamExtFloat<px4::params::EKF2_GND_EFF_DZ>)
_gnd_effect_deadzone, ///< barometric deadzone range for negative innovations (m)
(ParamExtFloat<px4::params::EKF2_GPS_P_GATE>) (ParamExtFloat<px4::params::EKF2_GPS_P_GATE>)
_posNE_innov_gate, ///< GPS horizontal position innovation consistency gate size (STD) _posNE_innov_gate, ///< GPS horizontal position innovation consistency gate size (STD)
(ParamExtFloat<px4::params::EKF2_GPS_V_GATE>) _vel_innov_gate, ///< GPS velocity innovation consistency gate size (STD) (ParamExtFloat<px4::params::EKF2_GPS_V_GATE>) _vel_innov_gate, ///< GPS velocity innovation consistency gate size (STD)
@@ -537,6 +541,7 @@ Ekf2::Ekf2():
_pos_noaid_noise(_params->pos_noaid_noise), _pos_noaid_noise(_params->pos_noaid_noise),
_baro_noise(_params->baro_noise), _baro_noise(_params->baro_noise),
_baro_innov_gate(_params->baro_innov_gate), _baro_innov_gate(_params->baro_innov_gate),
_gnd_effect_deadzone(_params->gnd_effect_deadzone),
_posNE_innov_gate(_params->posNE_innov_gate), _posNE_innov_gate(_params->posNE_innov_gate),
_vel_innov_gate(_params->vel_innov_gate), _vel_innov_gate(_params->vel_innov_gate),
_tas_innov_gate(_params->tas_innov_gate), _tas_innov_gate(_params->tas_innov_gate),
@@ -1250,7 +1255,8 @@ void Ekf2::run()
if (vehicle_land_detected_updated) { if (vehicle_land_detected_updated) {
if (orb_copy(ORB_ID(vehicle_land_detected), _vehicle_land_detected_sub, &vehicle_land_detected) == PX4_OK) { if (orb_copy(ORB_ID(vehicle_land_detected), _vehicle_land_detected_sub, &vehicle_land_detected) == PX4_OK) {
_ekf.set_in_air_status(!vehicle_land_detected.landed); _ekf.set_in_air_status(!vehicle_land_detected.landed);
//_ekf.set_gnd_effect_flag(vehicle_land_detected.in_ground_effect); if(_enable_gnd_effect.get())
_ekf.set_gnd_effect_flag(vehicle_land_detected.in_ground_effect);
} }
} }
src/modules/ekf2/ekf2_params.c
+23
View File
@@ -538,6 +538,29 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_YAWLIM, 0.25f);
*/ */
PARAM_DEFINE_FLOAT(EKF2_BARO_GATE, 5.0f); PARAM_DEFINE_FLOAT(EKF2_BARO_GATE, 5.0f);
/**
* Boolean determining if barometer deadzone near ground should be accounted.
*
* A value of 1 indicates that deadzone is active
*
* @group EKF2
* @boolean
*/
PARAM_DEFINE_INT32(EKF2_GND_EFF_EN, 0);
/**
* Baro deadzone range for height fusion
*
* Sets the value of deadzone applied to negative baro innovations when ground effect compensation is active
*
* @group EKF2
* @min 0.5
* @max 10.0
* @unit M
* @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_GND_EFF_DZ, 5.0f);
/** /**
* Gate size for GPS horizontal position fusion * Gate size for GPS horizontal position fusion
* *