From 25dbb5d628f1aafaccb5ae11373b01ff88009b2e Mon Sep 17 00:00:00 2001
From: Paul Riseborough <p_riseborough@live.com.au>
Date: Thu, 14 Apr 2016 08:53:12 +1000
Subject: [PATCH] ekf2: Add missing tuning parameters

---
 src/modules/ekf2/ekf2_main.cpp |  4 ++++
 src/modules/ekf2/ekf2_params.c | 23 +++++++++++++++++++++++
 2 files changed, 27 insertions(+)

diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
index ac6f09b8c3..4a224c0aba 100644
--- a/src/modules/ekf2/ekf2_main.cpp
+++ b/src/modules/ekf2/ekf2_main.cpp
@@ -164,6 +164,8 @@ private:
 	control::BlockParamFloat *_mag_delay_ms;
 	control::BlockParamFloat *_baro_delay_ms;
 	control::BlockParamFloat *_gps_delay_ms;
+	control::BlockParamFloat *_flow_delay_ms;
+	control::BlockParamFloat *_rng_delay_ms;
 	control::BlockParamFloat *_airspeed_delay_ms;
 
 	control::BlockParamFloat *_gyro_noise;
@@ -264,6 +266,8 @@ Ekf2::Ekf2():
 	_mag_delay_ms(new control::BlockParamFloat(this, "EKF2_MAG_DELAY", false, &_params->mag_delay_ms)),
 	_baro_delay_ms(new control::BlockParamFloat(this, "EKF2_BARO_DELAY", false, &_params->baro_delay_ms)),
 	_gps_delay_ms(new control::BlockParamFloat(this, "EKF2_GPS_DELAY", false, &_params->gps_delay_ms)),
+	_flow_delay_ms(new control::BlockParamFloat(this, "EKF2_OF_DELAY", false, &_params->flow_delay_ms)),
+	_rng_delay_ms(new control::BlockParamFloat(this, "EKF2_RNG_DELAY", false, &_params->range_delay_ms)),
 	_airspeed_delay_ms(new control::BlockParamFloat(this, "EKF2_ASP_DELAY", false, &_params->airspeed_delay_ms)),
 	_gyro_noise(new control::BlockParamFloat(this, "EKF2_GYR_NOISE", false, &_params->gyro_noise)),
 	_accel_noise(new control::BlockParamFloat(this, "EKF2_ACC_NOISE", false, &_params->accel_noise)),
diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c
index 1336c5a992..98c96ba20d 100644
--- a/src/modules/ekf2/ekf2_params.c
+++ b/src/modules/ekf2/ekf2_params.c
@@ -74,6 +74,29 @@ PARAM_DEFINE_FLOAT(EKF2_BARO_DELAY, 0);
  */
 PARAM_DEFINE_FLOAT(EKF2_GPS_DELAY, 200);
 
+/**
+ * Optical flow measurement delay relative to IMU measurements
+ * Assumes measurement is timestamped at trailing edge of integration period
+ *
+ * @group EKF2
+ * @min 0
+ * @max 300
+ * @unit ms
+ * @decimal 1
+ */
+PARAM_DEFINE_FLOAT(EKF2_OF_DELAY, 5);
+
+/**
+ * Range finder measurement delay relative to IMU measurements
+ *
+ * @group EKF2
+ * @min 0
+ * @max 300
+ * @unit ms
+ * @decimal 1
+ */
+PARAM_DEFINE_FLOAT(EKF2_RNG_DELAY, 5);
+
 /**
  * Airspeed measurement delay relative to IMU measurements
  *