ins_extended

extended INS with vertical filter using sonar.

Defines
Name	Value	Description
USE_INS_NAV_INIT	TRUE\|FALSE	Initialize the origin of the local coordinate system from flight plan. (Default: TRUE)
INS_INT_AGL_ID	ABI_BROADCAST	The ABI sender id of the sonar to use
INS_INT_BARO_ID	BARO_BOARD_SENDER_ID	The ABI sender id of the baro to use
INS_INT_GPS_ID	GPS_MULTI_ID	The ABI sender id of the GPS to use
INS_INT_IMU_ID	ABI_BROADCAST	The ABI sender id of the IMU to use
INS_INT_VEL_ID	ABI_BROADCAST	The ABI sender id of the VELOCITY_ESTIMATE (e.g. from opticflow
INS_SONAR_MIN_RANGE	0.001	min sonar range in meters
INS_SONAR_MAX_RANGE	4.0	max sonar range in meters
INS_SONAR_UPDATE_ON_AGL	FALSE	assume flat ground and use sonar for height
DEBUG_VFF_EXTENDED	0\|1\|2	If set > 0, this will send the vff message. If > 1 then it will also print the P matrix
VFF_EXTENDED_INIT_PXX	1.	Initial value of the diagonal of the P matrix
VFF_EXTENDED_ACCEL_NOISE	0.5	Accelerometer noise setting
VFF_EXTENDED_R_BARO	2.	Barometer noise setting
VFF_EXTENDED_NON_FLAT_GROUND	FALSE	VFF_EXTENDED_NON_FLAT_GROUND removes the assumption of a flat ground and tries to estimate the height of the obstacles under the vehicle.

Depends