Skip to content
New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

EKF2: added absolute range altimeter param #11130

Closed
wants to merge 1 commit into from
Closed

EKF2: added absolute range altimeter param #11130

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
1 commit
Select commit
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 3 additions & 0 deletions src/modules/ekf2/ekf2_main.cpp
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -397,6 +397,8 @@ class Ekf2 final : public ModuleBase<Ekf2>, public ModuleParams
_rng_aid_height_max, ///< maximum allowed absolute altitude (AGL) for range aid (m)
(ParamExtFloat<px4::params::EKF2_RNG_A_IGATE>)
_rng_aid_innov_gate, ///< gate size used for innovation consistency checks for range aid fusion (STD)
(ParamExtInt<px4::params::EKF2_RNG_ABS>)
_rng_abs, ///< Boolean. A value of 1 indicates that the range finder sensor always gives an absolute altitude independently from the orientation of the vehicle.

// vision estimate fusion
(ParamFloat<px4::params::EKF2_EVP_NOISE>)
Expand Down Expand Up @@ -570,6 +572,7 @@ Ekf2::Ekf2():
_rng_aid_hor_vel_max(_params->max_vel_for_range_aid),
_rng_aid_height_max(_params->max_hagl_for_range_aid),
_rng_aid_innov_gate(_params->range_aid_innov_gate),
_rng_abs(_params->rng_abs),
_ev_innov_gate(_params->ev_innov_gate),
_flow_noise(_params->flow_noise),
_flow_noise_qual_min(_params->flow_noise_qual_min),
Expand Down
10 changes: 10 additions & 0 deletions src/modules/ekf2/ekf2_params.c
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -671,6 +671,16 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_GATE, 5.0f);
*/
PARAM_DEFINE_FLOAT(EKF2_MIN_RNG, 0.1f);

/**
* Absolute range finder
*
* Boolean. A value of 1 indicates that the range finder sensor always gives an absolute altitude independently from the orientation of the vehicle.
* Useful for gimbal-mounted range finders or other absolute sensors.
*
* @group EKF2
* @boolean
*/
PARAM_DEFINE_INT32(EKF2_RNG_ABS, 0);

/**
* Measurement noise for vision position observations used when the vision system does not supply error estimates
Expand Down