From 68c2eb9decffc04559230fde0fdb302f792e5dde Mon Sep 17 00:00:00 2001 From: Roman Date: Thu, 6 Apr 2017 11:40:32 +0200 Subject: [PATCH] ekf2_params: added range aid parameter Signed-off-by: Roman --- src/modules/ekf2/ekf2_params.c | 13 +++++++++++++ 1 file changed, 13 insertions(+) diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c index b8ac0d9edf..4b193c0e9e 100644 --- a/src/modules/ekf2/ekf2_params.c +++ b/src/modules/ekf2/ekf2_params.c @@ -994,3 +994,16 @@ PARAM_DEFINE_FLOAT(EKF2_MAGB_VREF, 2.5E-7f); * @decimal 2 */ PARAM_DEFINE_FLOAT(EKF2_MAGB_K, 0.2f); + +/** + * Range sensor aid. + * + * If this parameter is enabled then the estimator will make use of the range finder measurements + * to estimate it's height even if range sensor is not the primary height source. It will only do so if conditions + * for range measurement fusion are met. + * + * @group EKF2 + * @value 0 Range aid disabled + * @value 1 Range aid enabled + */ +PARAM_DEFINE_INT32(EKF2_RNG_AID, 0.0f);