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/**
* @file ekf_att_pos_estimator_params.c
*
* Parameters defined by the attitude and position estimator task
*
* @author Lorenz Meier <lm@inf.ethz.ch>
*/
#include <nuttx/config.h>
#include <systemlib/param/param.h>
/*
* Estimator parameters, accessible via MAVLink
*
*/
/**
* Velocity estimate delay
*
* The delay in milliseconds of the velocity estimate from GPS.
*
* @min 0
* @max 1000
* @group Position Estimator
*/
PARAM_DEFINE_INT32(PE_VEL_DELAY_MS, 230);
/**
* Position estimate delay
*
* The delay in milliseconds of the position estimate from GPS.
*
* @min 0
* @max 1000
* @group Position Estimator
*/
PARAM_DEFINE_INT32(PE_POS_DELAY_MS, 210);
/**
* Height estimate delay
*
* The delay in milliseconds of the height estimate from the barometer.
*
* @min 0
* @max 1000
* @group Position Estimator
*/
PARAM_DEFINE_INT32(PE_HGT_DELAY_MS, 350);
/**
* Mag estimate delay
*
* The delay in milliseconds of the magnetic field estimate from
* the magnetometer.
*
* @min 0
* @max 1000
* @group Position Estimator
*/
PARAM_DEFINE_INT32(PE_MAG_DELAY_MS, 30);
/**
* True airspeeed estimate delay
*
* The delay in milliseconds of the airspeed estimate.
*
* @min 0
* @max 1000
* @group Position Estimator
*/
PARAM_DEFINE_INT32(PE_TAS_DELAY_MS, 210);
/**
* GPS vs. barometric altitude update weight
*
* RE-CHECK this.
*
* @min 0.0
* @max 1.0
* @group Position Estimator
*/
PARAM_DEFINE_FLOAT(PE_GPS_ALT_WGT, 0.9f);
/**
* Airspeed measurement noise.
*
* Increasing this value will make the filter trust this sensor
* less and trust other sensors more.
*
* @min 0.5
* @max 5.0
* @group Position Estimator
*/
PARAM_DEFINE_FLOAT(PE_EAS_NOISE, 1.4f);
/**
* Velocity measurement noise in north-east (horizontal) direction.
*
* Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5
*
* @min 0.05
* @max 5.0
* @group Position Estimator
*/
PARAM_DEFINE_FLOAT(PE_VELNE_NOISE, 0.3f);
/**
* Velocity noise in down (vertical) direction
*
* Generic default: 0.5, multicopters: 0.7, ground vehicles: 0.7
*
* @min 0.05
* @max 5.0
* @group Position Estimator
*/
PARAM_DEFINE_FLOAT(PE_VELD_NOISE, 0.5f);
/**
* Position noise in north-east (horizontal) direction
*
* Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5
*
* @min 0.1
* @max 10.0
* @group Position Estimator
*/
PARAM_DEFINE_FLOAT(PE_POSNE_NOISE, 0.5f);
/**
* Position noise in down (vertical) direction
*
* Generic defaults: 0.5, multicopters: 1.0, ground vehicles: 1.0
*
* @min 0.1
* @max 10.0
* @group Position Estimator
*/
PARAM_DEFINE_FLOAT(PE_POSD_NOISE, 0.5f);
/**
* Magnetometer measurement noise
*
* Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05
*
* @min 0.1
* @max 10.0
* @group Position Estimator
*/
PARAM_DEFINE_FLOAT(PE_MAG_NOISE, 0.05f);
/**
* Gyro process noise
*
* Generic defaults: 0.015, multicopters: 0.015, ground vehicles: 0.015.
* This noise controls how much the filter trusts the gyro measurements.
* Increasing it makes the filter trust the gyro less and other sensors more.
*
* @min 0.001
* @max 0.05
* @group Position Estimator
*/
PARAM_DEFINE_FLOAT(PE_GYRO_PNOISE, 0.015f);
/**
* Accelerometer process noise
*
* Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25.
* Increasing this value makes the filter trust the accelerometer less
* and other sensors more.
*
* @min 0.05
* @max 1.0
* @group Position Estimator
*/
PARAM_DEFINE_FLOAT(PE_ACC_PNOISE, 0.25f);
/**
* Gyro bias estimate process noise
*
* Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f.
* Increasing this value will make the gyro bias converge faster but noisier.
*
* @min 0.0000001
* @max 0.00001
* @group Position Estimator
*/
PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f);
/**
* Accelerometer bias estimate process noise
*
* Generic defaults: 0.0001f, multicopters: 0.0001f, ground vehicles: 0.0001f.
* Increasing this value makes the bias estimation faster and noisier.
*
* @min 0.00001
* @max 0.001
* @group Position Estimator
*/
PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 0.00005f);
/**
* Magnetometer earth frame offsets process noise
*
* Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001.
* Increasing this value makes the magnetometer earth bias estimate converge
* faster but also noisier.
*
* @min 0.0001
* @max 0.01
* @group Position Estimator
*/
PARAM_DEFINE_FLOAT(PE_MAGE_PNOISE, 0.0003f);
/**
* Magnetometer body frame offsets process noise
*
* Generic defaults: 0.0003, multicopters: 0.0003, ground vehicles: 0.0003.
* Increasing this value makes the magnetometer body bias estimate converge faster
* but also noisier.
*
* @min 0.0001
* @max 0.01
* @group Position Estimator
*/
PARAM_DEFINE_FLOAT(PE_MAGB_PNOISE, 0.0003f);
/**
* Threshold for filter initialization.
*
* If the standard deviation of the GPS position estimate is below this threshold
* in meters, the filter will initialize.
*
* @min 0.3
* @max 10.0
* @group Position Estimator
*/
PARAM_DEFINE_FLOAT(PE_POSDEV_INIT, 5.0f);
