ekf2: add beta innovation gate to parameters

Signed-off-by: CarlOlsson <carlolsson.co@gmail.com>

src/modules/ekf2/ekf2_main.cpp

@@ -217,6 +217,7 @@ private:
 	BlockParamExtFloat _mag_heading_noise;	///< measurement noise used for simple heading fusion (rad)
 	BlockParamExtFloat _mag_noise;		///< measurement noise used for 3-axis magnetoemeter fusion (Gauss)
 	BlockParamExtFloat _eas_noise;		///< measurement noise used for airspeed fusion (m/sec)
+	BlockParamExtFloat _beta_innov_gate; ///< synthetic sideslip innovation consistency gate size (STD)
 	BlockParamExtFloat _beta_noise;	///< synthetic sideslip noise (rad)
 	BlockParamExtFloat _mag_declination_deg;///< magnetic declination (degrees)
 	BlockParamExtFloat _heading_innov_gate;///< heading fusion innovation consistency gate size (STD)
@@ -361,6 +362,7 @@ Ekf2::Ekf2():
 	_mag_heading_noise(this, "HEAD_NOISE", true, _params->mag_heading_noise),
 	_mag_noise(this, "MAG_NOISE", true, _params->mag_noise),
 	_eas_noise(this, "EAS_NOISE", true, _params->eas_noise),
+	_beta_innov_gate(this, "BETA_GATE", true, _params->beta_innov_gate),
 	_beta_noise(this, "BETA_NOISE", true, _params->beta_noise),
 	_mag_declination_deg(this, "MAG_DECL", true, _params->mag_declination_deg),
 	_heading_innov_gate(this, "HDG_GATE", true, _params->heading_innov_gate),

src/modules/ekf2/ekf2_params.c

@@ -393,6 +393,18 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_NOISE, 5.0e-2f);
  */
 PARAM_DEFINE_FLOAT(EKF2_EAS_NOISE, 1.4f);
 
+/**
+ * Gate size for synthetic sideslip fusion
+ *
+ * Sets the number of standard deviations used by the innovation consistency test.
+ *
+ * @group EKF2
+ * @min 1.0
+ * @unit SD
+ * @decimal 1
+ */
+PARAM_DEFINE_FLOAT(EKF2_BETA_GATE, 5.0f);
+
 /**
  * Noise for synthetic sideslip fusion.
  *