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AP_NavEKF: Make flow measurement delay vehicle specific

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This takes into account the inter-sampling delay between the flow driver and the APM software which depends on the rate at which the dirver is being checked. This is 50Hz for plane and rover, and 200Hz for Copter.
This commit is contained in:
priseborough 2014-11-07 22:10:29 +11:00 committed by Andrew Tridgell
parent f23722ecee
commit 1f78a73cdb
1 changed files with 4 additions and 1 deletions
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5
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -45,6 +45,7 @@
#define MAG_CAL_DEFAULT 1
#define GLITCH_ACCEL_DEFAULT 150
#define GLITCH_RADIUS_DEFAULT 15
#define FLOW_MEAS_DELAY 10
#elif APM_BUILD_TYPE(APM_BUILD_APMrover2)
// rover defaults
@ -66,6 +67,7 @@
#define MAG_CAL_DEFAULT 1
#define GLITCH_ACCEL_DEFAULT 150
#define GLITCH_RADIUS_DEFAULT 15
#define FLOW_MEAS_DELAY 25
#else
// generic defaults (and for plane)
@ -87,6 +89,7 @@
#define MAG_CAL_DEFAULT 0
#define GLITCH_ACCEL_DEFAULT 150
#define GLITCH_RADIUS_DEFAULT 15
#define FLOW_MEAS_DELAY 25
#endif // APM_BUILD_DIRECTORY
@ -331,7 +334,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @Range: 0 - 500
// @Increment: 10
// @User: advanced
AP_GROUPINFO("FLOW_DELAY", 28, NavEKF, _msecFLowDelay, 10),
AP_GROUPINFO("FLOW_DELAY", 28, NavEKF, _msecFLowDelay, FLOW_MEAS_DELAY),
// @Param: RNG_GATE
// @DisplayName: Range finder measurement gate size