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Use altitude waypoints for EKF2

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This commit is contained in:
Ewoud Smeur
2024-02-20 15:17:24 +01:00
committed by Freek van Tienen
parent 757c6372f0
commit 3bedf9576d
3 changed files with 19 additions and 5 deletions
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conf/modules/ins_ekf2.xml
+3 -2
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@@ -25,7 +25,7 @@
<define name="INS_EKF2_FLOW_POS_X" value="0" description="Flow sensor X offset from CoG position [m]"/>
<define name="INS_EKF2_FLOW_POS_Y" value="0" description="Flow sensor Y offset from CoG position [m]"/>
<define name="INS_EKF2_FLOW_POS_Z" value="0" description="Flow sensor Z offset from CoG position [m]"/>
<define name="INS_EKF2_SONAR_MIN_RANGE" value="0.05" description="AGL sensor minimum range [m]"/>
<define name="INS_EKF2_SONAR_MAX_RANGE" value="3" description="AGL sensor maximum range [m]"/>
<define name="INS_EKF2_RANGE_MAIN_AGL" value="1" description="If enabled uses radar sensor as primary AGL source, if possible"/>
@@ -80,6 +80,7 @@
<define name="__PAPARAZZI" value="TRUE"/>
<define name="ECL_STANDALONE" value="TRUE"/>
<define name="IMU_INTEGRATION" value="TRUE"/> <!-- Needed to enable IMU integration -->
<define name="USE_ALT_LLA_WAYPOINTS" value="TRUE"/>
<!-- Compile needed ecl files -->
<file name="geo.cpp" dir="ecl/geo"/>
@@ -103,6 +104,6 @@
<file name="EKFGSF_yaw.cpp" dir="ecl/EKF"/>
<file name="sensor_range_finder.cpp" dir="ecl/EKF"/>
<file name="utils.cpp" dir="ecl/EKF"/>
</makefile>
</module>