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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-02 10:41:46 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-02 10:41:46 +0200 |
| commit | 5895a2e96619a0c35a4c2383898582bde0ffdb6e (patch) | |
| tree | 76799924e9e3032c1e99fd47844c092abf67fe55 | |
| parent | 21b86cba26d41ff8ba8064c72f0d8e17267df5df (diff) | |
| download | px4-firmware-5895a2e96619a0c35a4c2383898582bde0ffdb6e.tar.gz px4-firmware-5895a2e96619a0c35a4c2383898582bde0ffdb6e.tar.bz2 px4-firmware-5895a2e96619a0c35a4c2383898582bde0ffdb6e.zip | |
Updated update / telemetry rates, updated covariance
| -rw-r--r-- | apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c | 9 | ||||
| -rw-r--r-- | apps/mavlink/mavlink.c | 4 |
2 files changed, 8 insertions, 5 deletions
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c index c1f8380e6..8fa41e150 100644 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c @@ -306,9 +306,10 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) q[0] = 1e1f; q[1] = 1e1f; q[2] = 1e1f; - q[3] = 1e-6f; - q[4] = 1e-6f; - q[5] = 1e-6f; + /* process noise gyro offset covariance */ + q[3] = 1e-4f; + q[4] = 1e-4f; + q[5] = 1e-4f; q[6] = 1e-1f; q[7] = 1e-1f; q[8] = 1e-1f; @@ -347,6 +348,8 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) continue; } + dt = 0.004f; + uint64_t timing_start = hrt_absolute_time(); // attitudeKalmanfilter(dt, update_vect, z_k, &z_k_sizes, u, x_aposteriori_k, P_aposteriori_k, knownConst, euler, // Rot_matrix, x_aposteriori, P_aposteriori); diff --git a/apps/mavlink/mavlink.c b/apps/mavlink/mavlink.c index 117387f36..3b1d2d073 100644 --- a/apps/mavlink/mavlink.c +++ b/apps/mavlink/mavlink.c @@ -1708,9 +1708,9 @@ int mavlink_thread_main(int argc, char *argv[]) set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20); set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20); /* 50 Hz / 20 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 30); /* 20 Hz / 50 ms */ - set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50); + set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10); set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50); /* 2 Hz */ set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100); |