ekf2_params_selector.c
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/****************************************************************************
*
* Copyright (c) 2020 PX4 Development Team. All rights reserved.
*
* Redistribution and use in source and binary forms, with or without
* modification, are permitted provided that the following conditions
* are met:
*
* 1. Redistributions of source code must retain the above copyright
* notice, this list of conditions and the following disclaimer.
* 2. Redistributions in binary form must reproduce the above copyright
* notice, this list of conditions and the following disclaimer in
* the documentation and/or other materials provided with the
* distribution.
* 3. Neither the name PX4 nor the names of its contributors may be
* used to endorse or promote products derived from this software
* without specific prior written permission.
*
* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
* POSSIBILITY OF SUCH DAMAGE.
*
****************************************************************************/
/**
* Selector error reduce threshold
*
* EKF2 instances have to be better than the selected by at least this amount before their relative score can be reduced.
*
* @group EKF2
*/
PARAM_DEFINE_FLOAT(EKF2_SEL_ERR_RED, 0.2f);
/**
* Selector angular rate threshold
*
* EKF2 selector angular rate error threshold for comparing gyros. Angular rate vector differences larger than this will result in accumulated angular error.
*
* @group EKF2
* @unit deg/s
*/
PARAM_DEFINE_FLOAT(EKF2_SEL_IMU_RAT, 7.0f);
/**
* Selector angular threshold.
*
* EKF2 selector maximum accumulated angular error threshold for comparing gyros. Accumulated angular error larger than this will result in the sensor being declared faulty.
*
* @group EKF2
* @unit deg
*/
PARAM_DEFINE_FLOAT(EKF2_SEL_IMU_ANG, 15.0f);
/**
* Selector acceleration threshold
*
* EKF2 selector acceleration error threshold for comparing accelerometers. Acceleration vector differences larger than this will result in accumulated velocity error.
*
* @group EKF2
* @unit m/s^2
*/
PARAM_DEFINE_FLOAT(EKF2_SEL_IMU_ACC, 1.0f);
/**
* Selector angular threshold.
*
* EKF2 selector maximum accumulated velocity threshold for comparing accelerometers. Accumulated velocity error larger than this will result in the sensor being declared faulty.
*
* @group EKF2
* @unit m/s
*/
PARAM_DEFINE_FLOAT(EKF2_SEL_IMU_VEL, 2.0f);