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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-21 17:30:53 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-01-21 17:30:53 +0100 |
| commit | ac215185a9604a88665d0b5b8382659f8cedaf56 (patch) | |
| tree | f7ba1eca830745fd7c002f954de27d38ea0995da /apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c | |
| parent | 48e497e4069a2f8773d90f2d1887967a81e487d8 (diff) | |
| download | px4-firmware-ac215185a9604a88665d0b5b8382659f8cedaf56.tar.gz px4-firmware-ac215185a9604a88665d0b5b8382659f8cedaf56.tar.bz2 px4-firmware-ac215185a9604a88665d0b5b8382659f8cedaf56.zip | |
Better attitude filter, not sensitive to sudden accelerations
Diffstat (limited to 'apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c')
| -rwxr-xr-x[-rw-r--r--] | apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c | 40 |
1 files changed, 1 insertions, 39 deletions
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c index 91fec9ccb..5b7756611 100644..100755 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -50,15 +50,6 @@ PARAM_DEFINE_FLOAT(EKF_ATT_Q2, 1e1f); /* gyro offsets process noise */ PARAM_DEFINE_FLOAT(EKF_ATT_Q3, 1e-4f); PARAM_DEFINE_FLOAT(EKF_ATT_Q4, 1e-4f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q5, 1e-4f); -/* accelerometer process noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_Q6, 1e-1f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q7, 1e-1f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q8, 1e-1f); -/* magnetometer process noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_Q9, 1e-1f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q10, 1e-1f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q11, 1e-1f); /* gyro measurement noise */ PARAM_DEFINE_FLOAT(EKF_ATT_R0, 0.01f); @@ -66,12 +57,7 @@ PARAM_DEFINE_FLOAT(EKF_ATT_R1, 0.01f); PARAM_DEFINE_FLOAT(EKF_ATT_R2, 0.01f); /* accelerometer measurement noise */ PARAM_DEFINE_FLOAT(EKF_ATT_R3, 1e2f); -PARAM_DEFINE_FLOAT(EKF_ATT_R4, 1e2f); -PARAM_DEFINE_FLOAT(EKF_ATT_R5, 1e2f); -/* magnetometer measurement noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_R6, 1e-1f); -PARAM_DEFINE_FLOAT(EKF_ATT_R7, 1e-1f); -PARAM_DEFINE_FLOAT(EKF_ATT_R8, 1e-1f); + /* offsets in roll, pitch and yaw of sensor plane and body */ PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f); PARAM_DEFINE_FLOAT(ATT_PITCH_OFFS, 0.0f); @@ -85,23 +71,11 @@ int parameters_init(struct attitude_estimator_ekf_param_handles *h) h->q2 = param_find("EKF_ATT_Q2"); h->q3 = param_find("EKF_ATT_Q3"); h->q4 = param_find("EKF_ATT_Q4"); - h->q5 = param_find("EKF_ATT_Q5"); - h->q6 = param_find("EKF_ATT_Q6"); - h->q7 = param_find("EKF_ATT_Q7"); - h->q8 = param_find("EKF_ATT_Q8"); - h->q9 = param_find("EKF_ATT_Q9"); - h->q10 = param_find("EKF_ATT_Q10"); - h->q11 = param_find("EKF_ATT_Q11"); h->r0 = param_find("EKF_ATT_R0"); h->r1 = param_find("EKF_ATT_R1"); h->r2 = param_find("EKF_ATT_R2"); h->r3 = param_find("EKF_ATT_R3"); - h->r4 = param_find("EKF_ATT_R4"); - h->r5 = param_find("EKF_ATT_R5"); - h->r6 = param_find("EKF_ATT_R6"); - h->r7 = param_find("EKF_ATT_R7"); - h->r8 = param_find("EKF_ATT_R8"); h->roll_off = param_find("ATT_ROLL_OFFS"); h->pitch_off = param_find("ATT_PITCH_OFFS"); @@ -117,23 +91,11 @@ int parameters_update(const struct attitude_estimator_ekf_param_handles *h, stru param_get(h->q2, &(p->q[2])); param_get(h->q3, &(p->q[3])); param_get(h->q4, &(p->q[4])); - param_get(h->q5, &(p->q[5])); - param_get(h->q6, &(p->q[6])); - param_get(h->q7, &(p->q[7])); - param_get(h->q8, &(p->q[8])); - param_get(h->q9, &(p->q[9])); - param_get(h->q10, &(p->q[10])); - param_get(h->q11, &(p->q[11])); param_get(h->r0, &(p->r[0])); param_get(h->r1, &(p->r[1])); param_get(h->r2, &(p->r[2])); param_get(h->r3, &(p->r[3])); - param_get(h->r4, &(p->r[4])); - param_get(h->r5, &(p->r[5])); - param_get(h->r6, &(p->r[6])); - param_get(h->r7, &(p->r[7])); - param_get(h->r8, &(p->r[8])); param_get(h->roll_off, &(p->roll_off)); param_get(h->pitch_off, &(p->pitch_off)); |