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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-04 15:45:32 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-07-04 15:45:32 +0200 |
| commit | b01673d1d8717b645747b7630382d666c6377c49 (patch) | |
| tree | 4278daafbb4c5a162fa9da68c09ee55590087596 | |
| parent | f42b3ecd962a355081d36a62924e8ae9ecc05639 (diff) | |
| download | px4-firmware-b01673d1d8717b645747b7630382d666c6377c49.tar.gz px4-firmware-b01673d1d8717b645747b7630382d666c6377c49.tar.bz2 px4-firmware-b01673d1d8717b645747b7630382d666c6377c49.zip | |
Fixes to estimator and HIL startup script
| -rw-r--r-- | ROMFS/px4fmu_common/init.d/rc.hil | 4 | ||||
| -rw-r--r-- | src/modules/att_pos_estimator_ekf/KalmanNav.cpp | 2 | ||||
| -rw-r--r-- | src/modules/att_pos_estimator_ekf/params.c | 8 |
3 files changed, 7 insertions, 7 deletions
diff --git a/ROMFS/px4fmu_common/init.d/rc.hil b/ROMFS/px4fmu_common/init.d/rc.hil index 7614ac0fe..3517a5bd8 100644 --- a/ROMFS/px4fmu_common/init.d/rc.hil +++ b/ROMFS/px4fmu_common/init.d/rc.hil @@ -54,13 +54,13 @@ sh /etc/init.d/rc.sensors # # Start the attitude estimator (depends on orb) # -kalman_demo start +att_pos_estimator_ekf start # # Load mixer and start controllers (depends on px4io) # mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix -control_demo start +fixedwing_backside start echo "[HIL] setup done, running" diff --git a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp index 197c2e36c..97d7fdd75 100644 --- a/src/modules/att_pos_estimator_ekf/KalmanNav.cpp +++ b/src/modules/att_pos_estimator_ekf/KalmanNav.cpp @@ -262,7 +262,7 @@ void KalmanNav::update() lat, lon, alt); } - // prediciton step + // prediction step // using sensors timestamp so we can account for packet lag float dt = (_sensors.timestamp - _predictTimeStamp) / 1.0e6f; //printf("dt: %15.10f\n", double(dt)); diff --git a/src/modules/att_pos_estimator_ekf/params.c b/src/modules/att_pos_estimator_ekf/params.c index 4d21b342b..4af5edead 100644 --- a/src/modules/att_pos_estimator_ekf/params.c +++ b/src/modules/att_pos_estimator_ekf/params.c @@ -36,10 +36,10 @@ /*PARAM_DEFINE_FLOAT(NAME,0.0f);*/ PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.008f); PARAM_DEFINE_FLOAT(KF_V_ACCEL, 1.0f); -PARAM_DEFINE_FLOAT(KF_R_MAG, 1.0f); -PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 1.0f); -PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 5.0f); -PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 5.0f); +PARAM_DEFINE_FLOAT(KF_R_MAG, 0.8f); +PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 0.5f); +PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 2.0f); +PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 3.0f); PARAM_DEFINE_FLOAT(KF_R_PRESS_ALT, 0.1f); PARAM_DEFINE_FLOAT(KF_R_ACCEL, 1.0f); PARAM_DEFINE_FLOAT(KF_FAULT_POS, 10.0f); |