added parameter for when to fuse sideslip

src/modules/ekf2/ekf2_main.cpp

@@ -270,6 +270,7 @@ private:
 	control::BlockParamFloat
 	_arspFusionThreshold; 	// a value of zero will disabled airspeed fusion. Any another positive value will determine
 	// the minimum airspeed which will still be fused
+	control::BlockParamInt _fuseBeta; // 0 disables synthetic sideslip fusion, 1 activates it
 
 	// output predictor filter time constants
 	control::BlockParamExtFloat _tau_vel;	// time constant used by the output velocity complementary filter (s)
@@ -376,6 +377,7 @@ Ekf2::Ekf2():
 	_ev_pos_y(this, "EKF2_EV_POS_Y", false, _params->ev_pos_body(1)),
 	_ev_pos_z(this, "EKF2_EV_POS_Z", false, _params->ev_pos_body(2)),
 	_arspFusionThreshold(this, "EKF2_ARSP_THR", false),
+	_fuseBeta(this, "EKF2_FUSE_BETA",false),
 	_tau_vel(this, "EKF2_TAU_VEL", false, _params->vel_Tau),
 	_tau_pos(this, "EKF2_TAU_POS", false, _params->pos_Tau),
 	_gyr_bias_init(this, "EKF2_GBIAS_INIT", false, _params->switch_on_gyro_bias),

src/modules/ekf2/ekf2_params.c

@@ -820,6 +820,16 @@ PARAM_DEFINE_FLOAT(EKF2_EV_POS_Z, 0.0f);
 */
 PARAM_DEFINE_FLOAT(EKF2_ARSP_THR, 0.0f);
 
+ /**
+ * Boolean determining if synthetic sideslip measurements should fused.
+ *
+ * A value of 1 indicates that fusion is active
+ *
+ * @group EKF2
+ * @boolean
+ */
+PARAM_DEFINE_INT32(EKF2_FUSE_BETA, 0);
+
 /**
 
  * Time constant of the velocity output prediction and smoothing filter