_param_ekf2_head_noise,///< measurement noise used for simple heading fusion (rad)
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@@ -367,7 +315,6 @@ private:
_param_ekf2_mag_acclim,///< integer used to specify the type of magnetometer fusion used
(ParamExtFloat<px4::params::EKF2_MAG_YAWLIM>)
_param_ekf2_mag_yawlim,///< yaw rate threshold used by mode select logic (rad/sec)
(ParamExtInt<px4::params::EKF2_GPS_CHECK>)
_param_ekf2_gps_check,///< bitmask used to control which GPS quality checks are used
(ParamExtFloat<px4::params::EKF2_REQ_EPH>)_param_ekf2_req_eph,///< maximum acceptable horiz position error (m)
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@@ -379,7 +326,6 @@ private:
(ParamExtFloat<px4::params::EKF2_REQ_HDRIFT>)
_param_ekf2_req_hdrift,///< maximum acceptable horizontal drift speed (m/s)
(ParamExtFloat<px4::params::EKF2_REQ_VDRIFT>)_param_ekf2_req_vdrift,///< maximum acceptable vertical drift speed (m/s)
// measurement source control
(ParamExtInt<px4::params::EKF2_AID_MASK>)
_param_ekf2_aid_mask,///< bitmasked integer that selects which of the GPS and optical flow aiding sources will be used
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@@ -388,7 +334,6 @@ private:
_param_ekf2_terr_mask,///< bitmasked integer that selects which of range finder and optical flow aiding sources will be used for terrain estimation
(ParamExtInt<px4::params::EKF2_NOAID_TOUT>)
_param_ekf2_noaid_tout,///< maximum lapsed time from last fusion of measurements that constrain drift before the EKF will report the horizontal nav solution invalid (uSec)
// range finder fusion
(ParamExtFloat<px4::params::EKF2_RNG_NOISE>)
_param_ekf2_rng_noise,///< observation noise for range finder measurements (m)
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@@ -407,7 +352,6 @@ private:
_param_ekf2_rng_a_igate,///< gate size used for innovation consistency checks for range aid fusion (STD)
(ParamExtFloat<px4::params::EKF2_RNG_QLTY_T>)
_param_ekf2_rng_qlty_t,///< Minimum duration during which the reported range finder signal quality needs to be non-zero in order to be declared valid (s)
// vision estimate fusion
(ParamInt<px4::params::EKF2_EV_NOISE_MD>)
_param_ekf2_ev_noise_md,///< determine source of vision observation noise
_param_ekf2_abl_gyrlim,///< Maximum IMU gyro angular rate magnitude that allows IMU bias learning (m/s**2)
(ParamExtFloat<px4::params::EKF2_ABL_TAU>)
_param_ekf2_abl_tau,///< Time constant used to inhibit IMU delta velocity bias learning (sec)
// Multi-rotor drag specific force fusion
(ParamExtFloat<px4::params::EKF2_DRAG_NOISE>)
_param_ekf2_drag_noise,///< observation noise variance for drag specific force measurements (m/sec**2)**2
(ParamExtFloat<px4::params::EKF2_BCOEF_X>)_param_ekf2_bcoef_x,///< ballistic coefficient along the X-axis (kg/m**2)
(ParamExtFloat<px4::params::EKF2_BCOEF_Y>)_param_ekf2_bcoef_y,///< ballistic coefficient along the Y-axis (kg/m**2)
// Corrections for static pressure position error where Ps_error = Ps_meas - Ps_truth
// Coef = Ps_error / Pdynamic, where Pdynamic = 1/2 * density * TAS**2
(ParamExtFloat<px4::params::EKF2_ASPD_MAX>)
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@@ -504,19 +440,15 @@ private:
_param_ekf2_pcoef_yn,///< static pressure position error coefficient along the negative Y body axis
(ParamExtFloat<px4::params::EKF2_PCOEF_Z>)
_param_ekf2_pcoef_z,///< static pressure position error coefficient along the Z body axis
// Test used to determine if the vehicle is static or moving
(ParamExtFloat<px4::params::EKF2_MOVE_TEST>)
_param_ekf2_move_test,///< scaling applied to IMU data thresholds used to determine if the vehicle is static or moving.
(ParamFloat<px4::params::EKF2_REQ_GPS_H>)_param_ekf2_req_gps_h,///< Required GPS health time
(ParamExtInt<px4::params::EKF2_MAG_CHECK>)_param_ekf2_mag_check,///< Mag field strength check
(ParamExtInt<px4::params::EKF2_SYNT_MAG_Z>)
_param_ekf2_synthetic_mag_z,///< Enables the use of a synthetic value for the Z axis of the magnetometer calculated from the 3D magnetic field vector at the location of the drone.
// Used by EKF-GSF experimental yaw estimator
(ParamExtFloat<px4::params::EKF2_GSF_TAS>)
_param_ekf2_gsf_tas_default///< default value of true airspeed assumed during fixed wing operation