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AP_NavEKF: Add parameter that specifies EKF-to-DCM/INAV fallback strictness

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This commit is contained in:
Jonathan Challinger 2014-10-31 17:47:55 -07:00 committed by Andrew Tridgell
parent 2293070a5b
commit 6c4d4713aa
2 changed files with 9 additions and 1 deletions
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9
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -301,6 +301,13 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @User: Advanced
AP_GROUPINFO("GLITCH_RAD", 24, NavEKF, _gpsGlitchRadiusMax, GLITCH_RADIUS_DEFAULT),
// @Param: FALLBACK
// @DisplayName: Fallback strictness
// @Description: This parameter controls the conditions necessary to trigger a fallback to DCM and INAV. A value of 1 will cause fallbacks to occur on loss of GPS and other conditions. A value of 0 will trust the EKF more.
// @Values: 0:Trust EKF more, 1:Trust DCM more
// @User: Advanced
AP_GROUPINFO("FALLBACK", 31, NavEKF, _fallback, 1),
AP_GROUPEND
};
@ -372,7 +379,7 @@ bool NavEKF::healthy(void) const
// If measurements have failed innovation consistency checks for long enough to time-out
// and force fusion then the nav solution can be conidered to be unhealthy
// This will only be set as a transient
if (posTimeout || velTimeout || hgtTimeout) {
if (_fallback && (posTimeout || velTimeout || hgtTimeout)) {
return false;
}

1
libraries/AP_NavEKF/AP_NavEKF.h
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@ -332,6 +332,7 @@ private:
AP_Int8 _magCal; // Sets activation condition for in-flight magnetometer calibration
AP_Int16 _gpsGlitchAccelMax; // Maximum allowed discrepancy between inertial and GPS Horizontal acceleration before GPS data is ignored : cm/s^2
AP_Int8 _gpsGlitchRadiusMax; // Maximum allowed discrepancy between inertial and GPS Horizontal position before GPS glitch is declared : m
AP_Int8 _fallback; // EKF-to-DCM fallback strictness. 0 = trust EKF more, 1 = fallback more conservatively.
// Tuning parameters
AP_Float _gpsNEVelVarAccScale; // scale factor applied to NE velocity measurement variance due to Vdot