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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-20 01:37:31 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-20 01:37:31 +0200 |
| commit | ce56d75bc606015728f59a3e811fa48ff9db2979 (patch) | |
| tree | e979dc950ae8b2db74c20f1e02cfb6815c88680c /src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_params.c | |
| parent | dca1e7fc611bb44caf1fc586e45105d170955de2 (diff) | |
| download | px4-firmware-ce56d75bc606015728f59a3e811fa48ff9db2979.tar.gz px4-firmware-ce56d75bc606015728f59a3e811fa48ff9db2979.tar.bz2 px4-firmware-ce56d75bc606015728f59a3e811fa48ff9db2979.zip | |
Updated filter to most recent version with accel scale estimation, exposed crucial parameters for cross-vehicle support
Diffstat (limited to 'src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_params.c')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_params.c | 14 |
1 files changed, 13 insertions, 1 deletions
diff --git a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_params.c b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_params.c index 9d01a095c..cfcd99858 100644 --- a/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_params.c +++ b/src/modules/ekf_att_pos_estimator/fw_att_pos_estimator_params.c @@ -116,7 +116,19 @@ PARAM_DEFINE_INT32(PE_TAS_DELAY_MS, 210); PARAM_DEFINE_FLOAT(PE_GPS_ALT_WGT, 0.9f); /** - * Velocity noise in north-east (horizontal) direction. + * Airspeed measurement noise. + * + * Increasing this value will make the filter trust this sensor + * less and trust other sensors more. + * + * @min 0.5 + * @max 5.0 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_EAS_NOISE, 1.4f); + +/** + * Velocity measurement noise in north-east (horizontal) direction. * * Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5 * |