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EKF: Add parameters to control declination source and fusion type

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Paul Riseborough 2016-02-12 14:06:08 +11:00 committed by Roman
parent 6140d4b21f
commit 0308f2f796
1 changed files with 12 additions and 0 deletions
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12
EKF/common.h
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@ -141,6 +141,8 @@ struct parameters {
float mag_declination_deg = 0.0f; // magnetic declination in degrees
float heading_innov_gate = 3.0f; // heading fusion innovation consistency gate size in standard deviations
float mag_innov_gate = 3.0f; // magnetometer fusion innovation consistency gate size in standard deviations
int mag_declination_source = 7; // bitmask used to control the handling of declination data
int mag_fusion_type = 0; // integer used to specify the type of magnetometer fusion used
// these parameters control the strictness of GPS quality checks used to determine uf the GPS is
// good enough to set a local origin and commence aiding
@ -154,6 +156,16 @@ struct parameters {
float req_vdrift = 0.5f; // maximum acceptable vertical drift speed
};
// Bit locations for mag_declination_source
#define MASK_USE_GEO_DECL (1<<0) // set to true to use the declination from the geo library when the GPS position becomes available, set to false to always use the EKF2_MAG_DECL value
#define MASK_SAVE_GEO_DECL (1<<1) // set to true to set the EKF2_MAG_DECL parameter to the value returned by the geo library
#define MASK_FUSE_DECL (1<<2) // set to true if the declination is always fused as an observation to contrain drift when 3-axis fusion is performed
// Integer definitions for mag_fusion_type
#define MAG_FUSE_TYPE_AUTO 0 // The selection of either heading or 3D magnetometer fusion will be automatic
#define MAG_FUSE_TYPE_HEADING 1 // Magnetic heading fusion will alays be used. This is less accurate, but less affected by earth field distortions
#define MAG_FUSE_TYPE_3D 2 // Magnetometer 3-axis fusion will always be used. This is more accurate, but more affected by localised earth field distortions
struct stateSample {
Vector3f ang_error; // attitude axis angle error (error state formulation)
Vector3f vel; // NED velocity in earth frame in m/s