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EKF: Update parameter description

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Paul Riseborough 2017-11-15 21:26:55 +11:00
parent 16154423c8
commit cfdab732d1
1 changed files with 1 additions and 1 deletions
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EKF/common.h
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@ -232,7 +232,7 @@ struct parameters {
float gps_pos_noise{0.5f}; ///< minimum allowed observation noise for gps position fusion (m) float gps_pos_noise{0.5f}; ///< minimum allowed observation noise for gps position fusion (m)
float pos_noaid_noise{10.0f}; ///< observation noise for non-aiding position fusion (m) float pos_noaid_noise{10.0f}; ///< observation noise for non-aiding position fusion (m)
float baro_noise{2.0f}; ///< observation noise for barometric height fusion (m) float baro_noise{2.0f}; ///< observation noise for barometric height fusion (m)
float baro_innov_gate{5.0f}; ///< barometric height innovation consistency gate size (STD) float baro_innov_gate{5.0f}; ///< barometric and GPS height innovation consistency gate size (STD)
float posNE_innov_gate{5.0f}; ///< GPS horizontal position innovation consistency gate size (STD) float posNE_innov_gate{5.0f}; ///< GPS horizontal position innovation consistency gate size (STD)
float vel_innov_gate{5.0f}; ///< GPS velocity innovation consistency gate size (STD) float vel_innov_gate{5.0f}; ///< GPS velocity innovation consistency gate size (STD)
float hgt_reset_lim{0.0f}; ///< The maximum 1-sigma uncertainty in height that can be tolerated before the height state is reset (m) float hgt_reset_lim{0.0f}; ///< The maximum 1-sigma uncertainty in height that can be tolerated before the height state is reset (m)