ins_hff_extended
extended INS with vertical filter using sonar.
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 |
Depends
- @imu
- @gps|@position|@velocity
Provides
- ins