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AP_NavEKF2: tight types on constants 

This saves ~200 bytes on at stm32 build, at the expense of people having
to watch the type carefully when increasing the values
This commit is contained in:
Peter Barker 2018-02-22 20:17:14 +11:00 committed by Randy Mackay
parent 3a99b2bce1
commit dbe860152d
1 changed files with 6 additions and 6 deletions
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12
libraries/AP_NavEKF2/AP_NavEKF2.h
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@ -389,25 +389,25 @@ private:
const float gpsNEVelVarAccScale = 0.05f; // Scale factor applied to NE velocity measurement variance due to manoeuvre acceleration
const float gpsDVelVarAccScale = 0.07f; // Scale factor applied to vertical velocity measurement variance due to manoeuvre acceleration
const float gpsPosVarAccScale = 0.05f; // Scale factor applied to horizontal position measurement variance due to manoeuvre acceleration
const uint16_t magDelay_ms = 60; // Magnetometer measurement delay (msec)
const uint16_t tasDelay_ms = 240; // Airspeed measurement delay (msec)
const uint8_t magDelay_ms = 60; // Magnetometer measurement delay (msec)
const uint8_t tasDelay_ms = 240; // Airspeed measurement delay (msec)
const uint16_t tiltDriftTimeMax_ms = 15000; // Maximum number of ms allowed without any form of tilt aiding (GPS, flow, TAS, etc)
const uint16_t posRetryTimeUseVel_ms = 10000; // Position aiding retry time with velocity measurements (msec)
const uint16_t posRetryTimeNoVel_ms = 7000; // Position aiding retry time without velocity measurements (msec)
const uint16_t hgtRetryTimeMode0_ms = 10000; // Height retry time with vertical velocity measurement (msec)
const uint16_t hgtRetryTimeMode12_ms = 5000; // Height retry time without vertical velocity measurement (msec)
const uint16_t tasRetryTime_ms = 5000; // True airspeed timeout and retry interval (msec)
const uint32_t magFailTimeLimit_ms = 10000; // number of msec before a magnetometer failing innovation consistency checks is declared failed (msec)
const uint16_t magFailTimeLimit_ms = 10000; // number of msec before a magnetometer failing innovation consistency checks is declared failed (msec)
const float magVarRateScale = 0.005f; // scale factor applied to magnetometer variance due to angular rate
const float gyroBiasNoiseScaler = 2.0f; // scale factor applied to gyro bias state process noise when on ground
const uint16_t hgtAvg_ms = 100; // average number of msec between height measurements
const uint16_t betaAvg_ms = 100; // average number of msec between synthetic sideslip measurements
const uint8_t hgtAvg_ms = 100; // average number of msec between height measurements
const uint8_t betaAvg_ms = 100; // average number of msec between synthetic sideslip measurements
const float covTimeStepMax = 0.1f; // maximum time (sec) between covariance prediction updates
const float covDelAngMax = 0.05f; // maximum delta angle between covariance prediction updates
const float DCM33FlowMin = 0.71f; // If Tbn(3,3) is less than this number, optical flow measurements will not be fused as tilt is too high.
const float fScaleFactorPnoise = 1e-10f; // Process noise added to focal length scale factor state variance at each time step
const uint8_t flowTimeDeltaAvg_ms = 100; // average interval between optical flow measurements (msec)
const uint32_t flowIntervalMax_ms = 100; // maximum allowable time between flow fusion events
const uint8_t flowIntervalMax_ms = 100; // maximum allowable time between flow fusion events
const uint16_t gndEffectTimeout_ms = 1000; // time in msec that ground effect mode is active after being activated
const float gndEffectBaroScaler = 4.0f; // scaler applied to the barometer observation variance when ground effect mode is active
const uint8_t gndGradientSigma = 50; // RMS terrain gradient percentage assumed by the terrain height estimation