added tas_innov_gate to params

src/modules/ekf2/ekf2_main.cpp

@@ -189,6 +189,7 @@ private:
 	control::BlockParamFloat _baro_innov_gate;     // innovation gate for barometric height innovation test (std dev)
 	control::BlockParamFloat _posNE_innov_gate;    // innovation gate for GPS horizontal position innovation test (std dev)
 	control::BlockParamFloat _vel_innov_gate;      // innovation gate for GPS velocity innovation test (std dev)
+	control::BlockParamFloat _tas_innov_gate;	   // innovation gate for tas innovation test (std dev)
 
 	control::BlockParamFloat _mag_heading_noise;	// measurement noise used for simple heading fusion
 	control::BlockParamFloat _mag_noise;           // measurement noise used for 3-axis magnetoemter fusion (Gauss)
@@ -286,6 +287,7 @@ Ekf2::Ekf2():
 	_baro_innov_gate(this, "EKF2_BARO_GATE", false, &_params->baro_innov_gate),
 	_posNE_innov_gate(this, "EKF2_GPS_P_GATE", false, &_params->posNE_innov_gate),
 	_vel_innov_gate(this, "EKF2_GPS_V_GATE", false, &_params->vel_innov_gate),
+	_tas_innov_gate(this, "EKF2_TAS_GATE", false, &_params->tas_innov_gate),
 	_mag_heading_noise(this, "EKF2_HEAD_NOISE", false, &_params->mag_heading_noise),
 	_mag_noise(this, "EKF2_MAG_NOISE", false, &_params->mag_noise),
 	_eas_noise(this, "EKF2_EAS_NOISE", false, &_params->eas_noise),

src/modules/ekf2/ekf2_params.c

@@ -443,6 +443,16 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_P_GATE, 5.0f);
  */
 PARAM_DEFINE_FLOAT(EKF2_GPS_V_GATE, 5.0f);
 
+/**
+ * Gate size for TAS fusion
+ *
+ * @group EKF2
+ * @min 1.0
+ * @unit SD
+ * @decimal 1
+ */
+PARAM_DEFINE_FLOAT(EKF2_TAS_GATE, 3.0f);
+
 /**
  * Replay mode
  *