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AP_AHRS: add set_alt_measurement_noise

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These calls the EKF2 and EKF3's set_baro_alt_noise
This commit is contained in:
Randy Mackay 2020-04-22 08:57:07 +09:00
parent 9b404669c8
commit 8caf7d5811
3 changed files with 18 additions and 1 deletions
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3
libraries/AP_AHRS/AP_AHRS.h
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@ -562,6 +562,9 @@ public:
// return current vibration vector for primary IMU
Vector3f get_vibration(void) const;
// set and save the alt noise parameter value
virtual void set_alt_measurement_noise(float noise) {};
// allow threads to lock against AHRS update
HAL_Semaphore &get_semaphore(void) {
return _rsem;

11
libraries/AP_AHRS/AP_AHRS_NavEKF.cpp
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@ -2290,4 +2290,15 @@ bool AP_AHRS_NavEKF::is_ext_nav_used_for_yaw(void) const
return false;
}
// set and save the alt noise parameter value
void AP_AHRS_NavEKF::set_alt_measurement_noise(float noise)
{
#if HAL_NAVEKF2_AVAILABLE
EKF2.set_baro_alt_noise(noise);
#endif
#if HAL_NAVEKF3_AVAILABLE
EKF3.set_baro_alt_noise(noise);
#endif
}
#endif // AP_AHRS_NAVEKF_AVAILABLE

3
libraries/AP_AHRS/AP_AHRS_NavEKF.h
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@ -298,6 +298,9 @@ public:
// check whether external navigation is providing yaw. Allows compass pre-arm checks to be bypassed
bool is_ext_nav_used_for_yaw(void) const override;
// set and save the ALT_M_NSE parameter value
void set_alt_measurement_noise(float noise) override;
// these are only out here so vehicles can reference them for parameters
#if HAL_NAVEKF2_AVAILABLE
NavEKF2 EKF2;