diff options
| author | jgoppert <james.goppert@gmail.com> | 2013-01-16 00:24:14 -0500 |
|---|---|---|
| committer | jgoppert <james.goppert@gmail.com> | 2013-01-16 00:24:14 -0500 |
| commit | f8811649cb91fc88cef7b224b29c6c5f235f1d8d (patch) | |
| tree | 69fb799316695d128239ed3c966fcf8e38027403 /apps/examples/kalman_demo/params.c | |
| parent | ce3f835c637338086a18307c61deb35ccddbee05 (diff) | |
| download | px4-firmware-f8811649cb91fc88cef7b224b29c6c5f235f1d8d.tar.gz px4-firmware-f8811649cb91fc88cef7b224b29c6c5f235f1d8d.tar.bz2 px4-firmware-f8811649cb91fc88cef7b224b29c6c5f235f1d8d.zip | |
Controller/ EKF tuning.
Diffstat (limited to 'apps/examples/kalman_demo/params.c')
| -rw-r--r-- | apps/examples/kalman_demo/params.c | 16 |
1 files changed, 8 insertions, 8 deletions
diff --git a/apps/examples/kalman_demo/params.c b/apps/examples/kalman_demo/params.c index 58ebeba3c..77225b4c7 100644 --- a/apps/examples/kalman_demo/params.c +++ b/apps/examples/kalman_demo/params.c @@ -1,16 +1,16 @@ #include <systemlib/param/param.h> /*PARAM_DEFINE_FLOAT(NAME,0.0f);*/ -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_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, 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_R_ACCEL, 1.0f); +PARAM_DEFINE_FLOAT(KF_FAULT_POS, 10.0f); +PARAM_DEFINE_FLOAT(KF_FAULT_ATT, 10.0f); +PARAM_DEFINE_FLOAT(KF_ENV_G, 9.765f); PARAM_DEFINE_FLOAT(KF_ENV_MAG_DIP, 60.0f); PARAM_DEFINE_FLOAT(KF_ENV_MAG_DEC, 0.0f); |