Add param to choose vision observation noise source #13150
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dagar
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Oct 14, 2019
mhkabir
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mhkabir
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mhkabir
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kamilritz
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@kamilritz this needs to be brought to the ECL docs. FYI @hamishwillee |
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Documentation: PX4/PX4-user_guide#587 |
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Until now the vision observation noise is set from the incoming vision covariance data lower bounded by the default noise parameters. This PR adds a parameter
EKF2_EV_NOISE_ENthat enforces the vision observation noise to be set from default parameters directly. This is specially helpful for tuning the fusion of vision data in the EKF or in cases where the vision sensor is sending unusable covariances.The
EKF2_EV_NOISE_ENparameter's default value is chosen such that the behavior is still the same, if the parameter is untouched.@mhkabir