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AP_NavEKF : Mavlink tunable parameter - first attempt

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Paul Riseborough 2014-01-31 09:16:58 +11:00 committed by Andrew Tridgell
parent 8c4b0b9be9
commit f0f76920fa
2 changed files with 17 additions and 0 deletions
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13
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -21,6 +21,19 @@ extern const AP_HAL::HAL& hal;
#define earthRate 0.000072921f // earth rotation rate (rad/sec) #define earthRate 0.000072921f // earth rotation rate (rad/sec)
// Define tuning parameters
const AP_Param::GroupInfo AP_NavEKF::var_info[] PROGMEM = {
// @Param: TEST PARAM
// @DisplayName: Blah (units)
// @Description: Blah blah.
// @Increment: 0.1
// @User: advanced
AP_GROUPINFO("BLAH", 0, AP_NavEKF, _blah, 1.0f),
AP_GROUPEND
};
// constructor // constructor
NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) : NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) :
_ahrs(ahrs), _ahrs(ahrs),

4
libraries/AP_NavEKF/AP_NavEKF.h
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@ -26,6 +26,7 @@
#include <AP_Baro.h> #include <AP_Baro.h>
#include <AP_Airspeed.h> #include <AP_Airspeed.h>
#include <AP_Compass.h> #include <AP_Compass.h>
#include <AP_Param.h>
// #define MATH_CHECK_INDEXES 1 // #define MATH_CHECK_INDEXES 1
@ -254,6 +255,9 @@ public:
uint32_t _hgtRetryTimeMode12; // height measurement retry time following innovation consistency fail if GPS fusion mode is > 0 uint32_t _hgtRetryTimeMode12; // height measurement retry time following innovation consistency fail if GPS fusion mode is > 0
private: private:
// EKF tuneable parameters
AP_Float _blah;
bool statesInitialised; // boolean true when filter states have been initialised bool statesInitialised; // boolean true when filter states have been initialised
bool staticModeDemanded; // boolean true when staticMode has been demanded externally. bool staticModeDemanded; // boolean true when staticMode has been demanded externally.
bool velHealth; // boolean true if velocity measurements have failed innovation consistency check bool velHealth; // boolean true if velocity measurements have failed innovation consistency check