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ekf rng kin: increase default gate size 

The user needs to tune the range finder noise parameters properly and we
shouldn't need such a small gate
This commit is contained in:
bresch 2022-03-23 16:52:50 +01:00 committed by Mathieu Bresciani
parent 1fbe04986f
commit 4994649500
2 changed files with 5 additions and 3 deletions
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2
src/modules/ekf2/EKF/common.h
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@ -307,7 +307,7 @@ struct parameters {
float range_aid_innov_gate{1.0f}; ///< gate size used for innovation consistency checks for range aid fusion
float range_valid_quality_s{1.0f}; ///< minimum duration during which the reported range finder signal quality needs to be non-zero in order to be declared valid (s)
float range_cos_max_tilt{0.7071f}; ///< cosine of the maximum tilt angle from the vertical that permits use of range finder and flow data
float range_kin_consistency_gate{0.2f}; ///< gate size used by the range finder kinematic consistency check
float range_kin_consistency_gate{1.0f}; ///< gate size used by the range finder kinematic consistency check
// vision position fusion
float ev_vel_innov_gate{3.0f}; ///< vision velocity fusion innovation consistency gate size (STD)

6
src/modules/ekf2/ekf2_params.c
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@ -1122,12 +1122,14 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_QLTY_T, 1.0f);
*
* Decrease this value to make the filter more robust against range finder faulty data (stuck, reflections, ...).
*
* Note: tune the range finder noise parameters (EKF2_RNG_NOISE and EKF2_RNG_SFE) before tuning this gate.
*
* @group EKF2
* @unit SD
* @min 0.01
* @min 0.1
* @max 5.0
*/
PARAM_DEFINE_FLOAT(EKF2_RNG_K_GATE, 0.2f);
PARAM_DEFINE_FLOAT(EKF2_RNG_K_GATE, 1.0f);
/**
* Gate size for vision velocity estimate fusion