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AP_NavEKF: Enable EKF1 to be disabled to reduce frame over-runs

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Paul Riseborough 2015-10-19 10:05:55 +11:00 committed by Andrew Tridgell
parent 1a1236f764
commit 6b3e114cd6
2 changed files with 14 additions and 0 deletions
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13
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -394,6 +394,14 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @Bitmask: 0:NSats,1:HDoP,2:speed error,3:horiz pos error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed // @Bitmask: 0:NSats,1:HDoP,2:speed error,3:horiz pos error,4:yaw error,5:pos drift,6:vert speed,7:horiz speed
// @User: Advanced // @User: Advanced
AP_GROUPINFO("GPS_CHECK", 33, NavEKF, _gpsCheck, 31), AP_GROUPINFO("GPS_CHECK", 33, NavEKF, _gpsCheck, 31),
// @Param: ENABLE
// @DisplayName: Enable EKF1
// @Description: This enables EKF1 to be disabled when using alternative algorithms. When disabling it, the alternate EKF2 estimator must be enabled by setting EK2_ENABLED = 1 and flight control algorithms must be set to use the alternative estimator by setting AHRS_EKF_TYPE = 2.
// @Values: 0:Disabled, 1:Enabled
// @User: Advanced
AP_GROUPINFO("ENABLE", 34, NavEKF, _enable, 1),
AP_GROUPEND AP_GROUPEND
}; };
@ -545,6 +553,11 @@ void NavEKF::ResetHeight(void)
// it should NOT be used to re-initialise after a timeout as DCM will also be corrupted // it should NOT be used to re-initialise after a timeout as DCM will also be corrupted
bool NavEKF::InitialiseFilterDynamic(void) bool NavEKF::InitialiseFilterDynamic(void)
{ {
// Don't start if the user has disabled
if (_enable == 0) {
return false;
}
// this forces healthy() to be false so that when we ask for ahrs // this forces healthy() to be false so that when we ask for ahrs
// attitude we get the DCM attitude regardless of the state of AHRS_EKF_USE // attitude we get the DCM attitude regardless of the state of AHRS_EKF_USE
statesInitialised = false; statesInitialised = false;

1
libraries/AP_NavEKF/AP_NavEKF.h
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@ -498,6 +498,7 @@ private:
void calcPosDownDerivative(); void calcPosDownDerivative();
// EKF Mavlink Tuneable Parameters // EKF Mavlink Tuneable Parameters
AP_Int8 _enable; // zero to disable EKF1
AP_Float _gpsHorizVelNoise; // GPS horizontal velocity measurement noise : m/s AP_Float _gpsHorizVelNoise; // GPS horizontal velocity measurement noise : m/s
AP_Float _gpsVertVelNoise; // GPS vertical velocity measurement noise : m/s AP_Float _gpsVertVelNoise; // GPS vertical velocity measurement noise : m/s
AP_Float _gpsHorizPosNoise; // GPS horizontal position measurement noise m AP_Float _gpsHorizPosNoise; // GPS horizontal position measurement noise m