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Copter: Enable access to EKF2 height tuning

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Paul Riseborough 2015-10-17 17:25:06 +11:00 committed by Andrew Tridgell
parent d0aba09503
commit 75a61df627
1 changed files with 16 additions and 3 deletions
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19
ArduCopter/tuning.cpp
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@ -142,18 +142,31 @@ void Copter::tuning() {
#if 0 #if 0
// disabled for now - we need accessor functions // disabled for now - we need accessor functions
case TUNING_EKF_VERTICAL_POS: case TUNING_EKF_VERTICAL_POS:
// Tune the EKF that is being used
// EKF's baro vs accel (higher rely on accels more, baro impact is reduced) // EKF's baro vs accel (higher rely on accels more, baro impact is reduced)
ahrs.get_NavEKF()._gpsVertPosNoise = tuning_value; if (!ahrs.get_NavEKF2().enabled()) {
ahrs.get_NavEKF()._gpsVertPosNoise = tuning_value;
} else {
ahrs.get_NavEKF2()._gpsVertPosNoise = tuning_value;
}
break; break;
case TUNING_EKF_HORIZONTAL_POS: case TUNING_EKF_HORIZONTAL_POS:
// EKF's gps vs accel (higher rely on accels more, gps impact is reduced) // EKF's gps vs accel (higher rely on accels more, gps impact is reduced)
ahrs.get_NavEKF()._gpsHorizPosNoise = tuning_value; if (!ahrs.get_NavEKF2().enabled()) {
ahrs.get_NavEKF()._gpsHorizPosNoise = tuning_value;
} else {
ahrs.get_NavEKF2()._gpsHorizPosNoise = tuning_value;
}
break; break;
case TUNING_EKF_ACCEL_NOISE: case TUNING_EKF_ACCEL_NOISE:
// EKF's accel noise (lower means trust accels more, gps & baro less) // EKF's accel noise (lower means trust accels more, gps & baro less)
ahrs.get_NavEKF()._accNoise = tuning_value; if (!ahrs.get_NavEKF2().enabled()) {
ahrs.get_NavEKF()._accNoise = tuning_value;
} else {
ahrs.get_NavEKF2()._accNoise = tuning_value;
}
break; break;
#endif #endif