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| author | James Goppert <james.goppert@gmail.com> | 2013-01-15 13:12:00 -0500 |
|---|---|---|
| committer | James Goppert <james.goppert@gmail.com> | 2013-01-15 13:12:00 -0500 |
| commit | 9cf3d51aec4e73f626cfdea29b19bdfe80eea384 (patch) | |
| tree | 63f7ee5dbd3b79dbd2c96bdc7f7f7b037e10d924 /apps/examples/kalman_demo/KalmanNav.hpp | |
| parent | edf0a6bae7fa5ae8c6d4df63489dcf75ec008517 (diff) | |
| download | px4-firmware-9cf3d51aec4e73f626cfdea29b19bdfe80eea384.tar.gz px4-firmware-9cf3d51aec4e73f626cfdea29b19bdfe80eea384.tar.bz2 px4-firmware-9cf3d51aec4e73f626cfdea29b19bdfe80eea384.zip | |
Made fault tolerances adjustable.
Diffstat (limited to 'apps/examples/kalman_demo/KalmanNav.hpp')
| -rw-r--r-- | apps/examples/kalman_demo/KalmanNav.hpp | 2 |
1 files changed, 2 insertions, 0 deletions
diff --git a/apps/examples/kalman_demo/KalmanNav.hpp b/apps/examples/kalman_demo/KalmanNav.hpp index ba3756f46..4af8bbf5c 100644 --- a/apps/examples/kalman_demo/KalmanNav.hpp +++ b/apps/examples/kalman_demo/KalmanNav.hpp @@ -159,6 +159,8 @@ protected: control::BlockParam<float> _rAccel; /**< accelerometer measurement noise */ control::BlockParam<float> _magDip; /**< magnetic inclination with level */ control::BlockParam<float> _magDec; /**< magnetic declination, clockwise rotation */ + control::BlockParam<float> _faultPos; /**< fault detection threshold for position */ + control::BlockParam<float> _faultAtt; /**< fault detection threshold for attitude */ // status bool _positionInitialized; /**< status, if position has been init. */ // accessors |