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| author | jgoppert <james.goppert@gmail.com> | 2013-01-15 23:36:01 -0500 |
|---|---|---|
| committer | jgoppert <james.goppert@gmail.com> | 2013-01-15 23:36:01 -0500 |
| commit | ce3f835c637338086a18307c61deb35ccddbee05 (patch) | |
| tree | fb1f1022d43c8d5e556b0053078c63ebe672256a /apps/examples/kalman_demo/params.c | |
| parent | 68a6a64213b5af66771a6a302bf06c4c588dc719 (diff) | |
| download | px4-firmware-ce3f835c637338086a18307c61deb35ccddbee05.tar.gz px4-firmware-ce3f835c637338086a18307c61deb35ccddbee05.tar.bz2 px4-firmware-ce3f835c637338086a18307c61deb35ccddbee05.zip | |
Mag and velocity measurement fix. Fault detection working.
Diffstat (limited to 'apps/examples/kalman_demo/params.c')
| -rw-r--r-- | apps/examples/kalman_demo/params.c | 25 |
1 files changed, 13 insertions, 12 deletions
diff --git a/apps/examples/kalman_demo/params.c b/apps/examples/kalman_demo/params.c index 2cdbc1435..58ebeba3c 100644 --- a/apps/examples/kalman_demo/params.c +++ b/apps/examples/kalman_demo/params.c @@ -1,15 +1,16 @@ #include <systemlib/param/param.h> /*PARAM_DEFINE_FLOAT(NAME,0.0f);*/ -PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.01f); -PARAM_DEFINE_FLOAT(KF_V_ACCEL, 0.01f); -PARAM_DEFINE_FLOAT(KF_R_MAG, 1.0f); -PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 1.0f); -PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 1.0f); -PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 1.0f); -PARAM_DEFINE_FLOAT(KF_R_ACCEL, 1.0f); -PARAM_DEFINE_FLOAT(KF_MAG_DIP, 60.0f); -PARAM_DEFINE_FLOAT(KF_MAG_DEC, 0.0f); -PARAM_DEFINE_FLOAT(KF_FAULT_POS, 1000.0f); -PARAM_DEFINE_FLOAT(KF_FAULT_ATT, 10.0f); -PARAM_DEFINE_FLOAT(KF_G, 9.806f); +PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.1f); +PARAM_DEFINE_FLOAT(KF_V_ACCEL, 0.1f); +PARAM_DEFINE_FLOAT(KF_R_MAG, 0.1f); +PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 0.1f); +PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 5.0f); +PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 5.0f); +PARAM_DEFINE_FLOAT(KF_R_ACCEL, 0.1f); +PARAM_DEFINE_FLOAT(KF_FAULT_POS, 1.0f); +PARAM_DEFINE_FLOAT(KF_FAULT_ATT, 1.0f); +PARAM_DEFINE_FLOAT(KF_ENV_G, 9.806f); +PARAM_DEFINE_FLOAT(KF_ENV_MAG_DIP, 60.0f); +PARAM_DEFINE_FLOAT(KF_ENV_MAG_DEC, 0.0f); + |