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| author | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-27 15:46:50 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2013-12-27 15:46:50 +0100 |
| commit | c5ef295f68fc475e053d9ab368881743c22f1667 (patch) | |
| tree | 971a4a75644c2198a53667f74117cc86a758a782 /src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c | |
| parent | d5c857615b8714a49d09ae8410b0ae8d6be4a1be (diff) | |
| download | px4-firmware-c5ef295f68fc475e053d9ab368881743c22f1667.tar.gz px4-firmware-c5ef295f68fc475e053d9ab368881743c22f1667.tar.bz2 px4-firmware-c5ef295f68fc475e053d9ab368881743c22f1667.zip | |
Hotfix: Reduce mag influence on att estimate
Diffstat (limited to 'src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c')
| -rwxr-xr-x | src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c | 12 |
1 files changed, 7 insertions, 5 deletions
diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c index 52dac652b..e1280445b 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -52,11 +52,13 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f); PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q4, 0.0f); /* gyro measurement noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_V3_R0, 0.0008f); -PARAM_DEFINE_FLOAT(EKF_ATT_V3_R1, 10000.0f); -PARAM_DEFINE_FLOAT(EKF_ATT_V3_R2, 1.0f); -/* accelerometer measurement noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_V3_R3, 0.0f); +PARAM_DEFINE_FLOAT(EKF_ATT_V4_R0, 0.0008f); +/* accel measurement noise */ +PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f); +/* mag measurement noise */ +PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f); +/* offset estimation - UNUSED */ +PARAM_DEFINE_FLOAT(EKF_ATT_V4_R3, 0.0f); /* offsets in roll, pitch and yaw of sensor plane and body */ PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f); |