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| author | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-17 15:08:33 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2012-10-17 15:08:33 +0200 |
| commit | 23d294453bbdade03a67002f62b898e7aca65a70 (patch) | |
| tree | cc461085b82e8bf3ea753c89a048bd6bc3e34783 /apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c | |
| parent | 5d3d17d025fa860879b145a99ec80afb7db38edc (diff) | |
| download | px4-firmware-23d294453bbdade03a67002f62b898e7aca65a70.tar.gz px4-firmware-23d294453bbdade03a67002f62b898e7aca65a70.tar.bz2 px4-firmware-23d294453bbdade03a67002f62b898e7aca65a70.zip | |
Fixed a range of initialization issues in filter, does not any more emit NaN in first iteration
Diffstat (limited to 'apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c')
| -rw-r--r-- | apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c | 6 |
1 files changed, 3 insertions, 3 deletions
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c index f20d1b204..4fc2e0452 100644 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -61,9 +61,9 @@ 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, 1e-1f); -PARAM_DEFINE_FLOAT(EKF_ATT_R1, 1e-1f); -PARAM_DEFINE_FLOAT(EKF_ATT_R2, 1e-1f); +PARAM_DEFINE_FLOAT(EKF_ATT_R0, 0.01f); +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, 1e1f); PARAM_DEFINE_FLOAT(EKF_ATT_R4, 1e1f); |