ekf2: added parameter for range sensor pitch offset

Signed-off-by: Roman <bapstroman@gmail.com>

src/modules/ekf2/ekf2_main.cpp

@@ -233,6 +233,7 @@ private:
 	control::BlockParamExtFloat _range_noise;		// observation noise for range finder measurements (m)
 	control::BlockParamExtFloat _range_innov_gate;	// range finder fusion innovation consistency gate size (STD)
 	control::BlockParamExtFloat _rng_gnd_clearance;	// minimum valid value for range when on ground (m)
+	control::BlockParamExtFloat _rng_pitch_offset;	// range sensor pitch offset (rad)
 
 	// vision estimate fusion
 	control::BlockParamExtFloat _ev_pos_noise;		// default position observation noise for exernal vision measurements (m)
@@ -351,6 +352,7 @@ Ekf2::Ekf2():
 	_range_noise(this, "EKF2_RNG_NOISE", false, _params->range_noise),
 	_range_innov_gate(this, "EKF2_RNG_GATE", false, _params->range_innov_gate),
 	_rng_gnd_clearance(this, "EKF2_MIN_RNG", false, _params->rng_gnd_clearance),
+	_rng_pitch_offset(this, "EKF2_RNG_PITCH", false, _params->rng_sens_pitch),
 	_ev_pos_noise(this, "EKF2_EVP_NOISE", false, _default_ev_pos_noise),
 	_ev_ang_noise(this, "EKF2_EVA_NOISE", false, _default_ev_ang_noise),
 	_ev_innov_gate(this, "EKF2_EV_GATE", false, _params->ev_innov_gate),

src/modules/ekf2/ekf2_params.c

@@ -895,3 +895,14 @@ PARAM_DEFINE_FLOAT(EKF2_ABIAS_INIT, 0.2f);
  * @decimal 3
  */
 PARAM_DEFINE_FLOAT(EKF2_ANGERR_INIT, 0.1f);
+
+/**
+ * Range sensor pitch offset.
+ *
+ * @group EKF2
+ * @min -0.75
+ * @max 0.75
+ * @unit rad
+ * @decimal 3
+ */
+PARAM_DEFINE_FLOAT(EKF2_RNG_PITCH, 0.0f);