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ekf2: Add parameter to set range dependant noise

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This commit is contained in:
Paul Riseborough
2017-06-19 20:46:33 +10:00
committed by ChristophTobler
parent 929ecd0e94
commit b3ceb37272
2 changed files with 14 additions and 0 deletions
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src/modules/ekf2/ekf2_main.cpp
+2
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@@ -260,6 +260,7 @@ private:
// range finder fusion
control::BlockParamExtFloat _range_noise; // observation noise for range finder measurements (m)
control::BlockParamExtFloat _range_noise_scaler; // scale factor from range to range noise (m/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)
@@ -394,6 +395,7 @@ Ekf2::Ekf2():
_fusion_mode(this, "EKF2_AID_MASK", false, _params->fusion_mode),
_vdist_sensor_type(this, "EKF2_HGT_MODE", false, _params->vdist_sensor_type),
_range_noise(this, "EKF2_RNG_NOISE", false, _params->range_noise),
_range_noise_scaler(this, "EKF2_RNG_SFE", false, _params->range_noise_scaler),
_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),
src/modules/ekf2/ekf2_params.c
+12
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@@ -577,6 +577,18 @@ PARAM_DEFINE_INT32(EKF2_HGT_MODE, 0);
*/
PARAM_DEFINE_FLOAT(EKF2_RNG_NOISE, 0.1f);
/**
* Range finder range depednat noise scaler.
*
* Specifies the increase in range finder noise with range.
*
* @group EKF2
* @min 0.0
* @max 0.2
* @unit m/m
*/
PARAM_DEFINE_FLOAT(EKF2_RNG_SFE, 0.05f);
/**
* Gate size for range finder fusion
*