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| author | Lorenz Meier <lm@inf.ethz.ch> | 2015-03-15 12:00:37 +0100 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2015-03-15 12:00:37 +0100 |
| commit | bab79ece49692e61c042ebc384f222a01fa4bb14 (patch) | |
| tree | 3b31134532feec933ee75f07b164d90584c9de7c /src/modules/ekf_att_pos_estimator | |
| parent | aceca6b2a929482ba1c32c553dc98478ea40dfb8 (diff) | |
| download | px4-firmware-bab79ece49692e61c042ebc384f222a01fa4bb14.tar.gz px4-firmware-bab79ece49692e61c042ebc384f222a01fa4bb14.tar.bz2 px4-firmware-bab79ece49692e61c042ebc384f222a01fa4bb14.zip | |
Better defaults for filter noise params
Diffstat (limited to 'src/modules/ekf_att_pos_estimator')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c | 4 | ||||
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/estimator_22states.cpp | 8 |
2 files changed, 6 insertions, 6 deletions
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c index 8c82dd6c1..f8cca6c0d 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c @@ -218,7 +218,7 @@ PARAM_DEFINE_FLOAT(PE_ACC_PNOISE, 0.25f); * @max 0.00001 * @group Position Estimator */ -PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f); +PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-06f); /** * Accelerometer bias estimate process noise @@ -230,7 +230,7 @@ PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f); * @max 0.001 * @group Position Estimator */ -PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 0.00005f); +PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 0.0002f); /** * Magnetometer earth frame offsets process noise diff --git a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp index 4fac83db2..817590bab 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp @@ -210,10 +210,10 @@ void AttPosEKF::InitialiseParameters() yawVarScale = 1.0f; windVelSigma = 0.1f; - dAngBiasSigma = 5.0e-7; - dVelBiasSigma = 1e-4f; - magEarthSigma = 3.0e-4f; - magBodySigma = 3.0e-4f; + dAngBiasSigma = 1.0e-6; + dVelBiasSigma = 0.0002f; + magEarthSigma = 0.0003f; + magBodySigma = 0.0003f; vneSigma = 0.2f; vdSigma = 0.3f; |