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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-19 15:49:29 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-04-19 15:49:29 +0200 |
| commit | edd16afead95bbf236d974ad895e10cc2ef70033 (patch) | |
| tree | ee7ed3519a9b4ff2433d90745081e8930774fd84 /src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp | |
| parent | 12eae1777d11138a0730d6fa54e0f63f98144d11 (diff) | |
| download | px4-firmware-edd16afead95bbf236d974ad895e10cc2ef70033.tar.gz px4-firmware-edd16afead95bbf236d974ad895e10cc2ef70033.tar.bz2 px4-firmware-edd16afead95bbf236d974ad895e10cc2ef70033.zip | |
Add filter parameters and multicopter defaults to parametrize Pauls estimator correctly when running for multicopters. Estimator itself not updated yet, will be next step.
Diffstat (limited to 'src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp')
| -rw-r--r-- | src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp | 44 |
1 files changed, 44 insertions, 0 deletions
diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp index 840cd585e..96db3f20c 100644 --- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp +++ b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_main.cpp @@ -199,6 +199,17 @@ private: int32_t height_delay_ms; int32_t mag_delay_ms; int32_t tas_delay_ms; + float velne_noise; + float veld_noise; + float posne_noise; + float posd_noise; + float mag_noise; + float gyro_pnoise; + float acc_pnoise; + float gbias_pnoise; + float abias_pnoise; + float mage_pnoise; + float magb_pnoise; } _parameters; /**< local copies of interesting parameters */ struct { @@ -207,6 +218,17 @@ private: param_t height_delay_ms; param_t mag_delay_ms; param_t tas_delay_ms; + param_t velne_noise; + param_t veld_noise; + param_t posne_noise; + param_t posd_noise; + param_t mag_noise; + param_t gyro_pnoise; + param_t acc_pnoise; + param_t gbias_pnoise; + param_t abias_pnoise; + param_t mage_pnoise; + param_t magb_pnoise; } _parameter_handles; /**< handles for interesting parameters */ AttPosEKF *_ekf; @@ -302,6 +324,17 @@ FixedwingEstimator::FixedwingEstimator() : _parameter_handles.height_delay_ms = param_find("PE_HGT_DELAY_MS"); _parameter_handles.mag_delay_ms = param_find("PE_MAG_DELAY_MS"); _parameter_handles.tas_delay_ms = param_find("PE_TAS_DELAY_MS"); + _parameter_handles.velne_noise = param_find("PE_VELNE_NOISE"); + _parameter_handles.veld_noise = param_find("PE_VELD_NOISE"); + _parameter_handles.posne_noise = param_find("PE_POSNE_NOISE"); + _parameter_handles.posd_noise = param_find("PE_POSD_NOISE"); + _parameter_handles.mag_noise = param_find("PE_MAG_NOISE"); + _parameter_handles.gyro_pnoise = param_find("PE_GYRO_PNOISE"); + _parameter_handles.acc_pnoise = param_find("PE_ACC_PNOISE"); + _parameter_handles.gbias_pnoise = param_find("PE_GBIAS_PNOISE"); + _parameter_handles.abias_pnoise = param_find("PE_ABIAS_PNOISE"); + _parameter_handles.mage_pnoise = param_find("PE_MAGE_PNOISE"); + _parameter_handles.magb_pnoise = param_find("PE_MAGB_PNOISE"); /* fetch initial parameter values */ parameters_update(); @@ -366,6 +399,17 @@ FixedwingEstimator::parameters_update() param_get(_parameter_handles.height_delay_ms, &(_parameters.height_delay_ms)); param_get(_parameter_handles.mag_delay_ms, &(_parameters.mag_delay_ms)); param_get(_parameter_handles.tas_delay_ms, &(_parameters.tas_delay_ms)); + param_get(_parameter_handles.velne_noise, &(_parameters.velne_noise)); + param_get(_parameter_handles.veld_noise, &(_parameters.veld_noise)); + param_get(_parameter_handles.posne_noise, &(_parameters.posne_noise)); + param_get(_parameter_handles.posd_noise, &(_parameters.posd_noise)); + param_get(_parameter_handles.mag_noise, &(_parameters.mag_noise)); + param_get(_parameter_handles.gyro_pnoise, &(_parameters.gyro_pnoise)); + param_get(_parameter_handles.acc_pnoise, &(_parameters.acc_pnoise)); + param_get(_parameter_handles.gbias_pnoise, &(_parameters.gbias_pnoise)); + param_get(_parameter_handles.abias_pnoise, &(_parameters.abias_pnoise)); + param_get(_parameter_handles.mage_pnoise, &(_parameters.mage_pnoise)); + param_get(_parameter_handles.magb_pnoise, &(_parameters.magb_pnoise)); return OK; } |