Renamed FW filter to EKF to express its generic properties, switched multicopters over to this filter for first tests.

1 files changed, 0 insertions, 248 deletions

diff --git a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_params.c b/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_params.c
deleted file mode 100644
index 9d01a095c..000000000
--- a/src/modules/fw_att_pos_estimator/fw_att_pos_estimator_params.c
+++ /dev/null
@@ -1,248 +0,0 @@
-/****************************************************************************
- *
- *   Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved.
- *
- * Redistribution and use in source and binary forms, with or without
- * modification, are permitted provided that the following conditions
- * are met:
- *
- * 1. Redistributions of source code must retain the above copyright
- *    notice, this list of conditions and the following disclaimer.
- * 2. Redistributions in binary form must reproduce the above copyright
- *    notice, this list of conditions and the following disclaimer in
- *    the documentation and/or other materials provided with the
- *    distribution.
- * 3. Neither the name PX4 nor the names of its contributors may be
- *    used to endorse or promote products derived from this software
- *    without specific prior written permission.
- *
- * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
- * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
- * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
- * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
- * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
- * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
- * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
- * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
- * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
- * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
- * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
- * POSSIBILITY OF SUCH DAMAGE.
- *
- ****************************************************************************/
-
-/**
- * @file fw_att_pos_estimator_params.c
- *
- * Parameters defined by the attitude and position estimator task
- *
- * @author Lorenz Meier <lm@inf.ethz.ch>
- */
-
-#include <nuttx/config.h>
-
-#include <systemlib/param/param.h>
-
-/*
- * Estimator parameters, accessible via MAVLink
- *
- */
-
-/**
- * Velocity estimate delay
- *
- * The delay in milliseconds of the velocity estimate from GPS.
- *
- * @min 0
- * @max 1000
- * @group Position Estimator
- */
-PARAM_DEFINE_INT32(PE_VEL_DELAY_MS, 230);
-
-/**
- * Position estimate delay
- *
- * The delay in milliseconds of the position estimate from GPS.
- *
- * @min 0
- * @max 1000
- * @group Position Estimator
- */
-PARAM_DEFINE_INT32(PE_POS_DELAY_MS, 210);
-
-/**
- * Height estimate delay
- *
- * The delay in milliseconds of the height estimate from the barometer.
- *
- * @min 0
- * @max 1000
- * @group Position Estimator
- */
-PARAM_DEFINE_INT32(PE_HGT_DELAY_MS, 350);
-
-/**
- * Mag estimate delay
- *
- * The delay in milliseconds of the magnetic field estimate from
- * the magnetometer.
- *
- * @min 0
- * @max 1000
- * @group Position Estimator
- */
-PARAM_DEFINE_INT32(PE_MAG_DELAY_MS, 30);
-
-/**
- * True airspeeed estimate delay
- *
- * The delay in milliseconds of the airspeed estimate.
- *
- * @min 0
- * @max 1000
- * @group Position Estimator
- */
-PARAM_DEFINE_INT32(PE_TAS_DELAY_MS, 210);
-
-/**
- * GPS vs. barometric altitude update weight
- *
- * RE-CHECK this.
- *
- * @min 0.0
- * @max 1.0
- * @group Position Estimator
- */
-PARAM_DEFINE_FLOAT(PE_GPS_ALT_WGT, 0.9f);
-
-/**
- * Velocity noise in north-east (horizontal) direction.
- *
- * Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5
- *
- * @min 0.05
- * @max 5.0
- * @group Position Estimator
- */
-PARAM_DEFINE_FLOAT(PE_VELNE_NOISE, 0.3f);
-
-/**
- * Velocity noise in down (vertical) direction
- *
- * Generic default: 0.5, multicopters: 0.7, ground vehicles: 0.7
- *
- * @min 0.05
- * @max 5.0
- * @group Position Estimator
- */
-PARAM_DEFINE_FLOAT(PE_VELD_NOISE, 0.5f);
-
-/**
- * Position noise in north-east (horizontal) direction
- *
- * Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5
- *
- * @min 0.1
- * @max 10.0
- * @group Position Estimator
- */
-PARAM_DEFINE_FLOAT(PE_POSNE_NOISE, 0.5f);
-
-/**
- * Position noise in down (vertical) direction
- *
- * Generic defaults: 0.5, multicopters: 1.0, ground vehicles: 1.0
- *
- * @min 0.1
- * @max 10.0
- * @group Position Estimator
- */
-PARAM_DEFINE_FLOAT(PE_POSD_NOISE, 0.5f);
-
-/**
- * Magnetometer measurement noise
- *
- * Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05
- *
- * @min 0.1
- * @max 10.0
- * @group Position Estimator
- */
-PARAM_DEFINE_FLOAT(PE_MAG_NOISE, 0.05f);
-
-/**
- * Gyro process noise
- *
- * Generic defaults: 0.015, multicopters: 0.015, ground vehicles: 0.015.
- * This noise controls how much the filter trusts the gyro measurements.
- * Increasing it makes the filter trust the gyro less and other sensors more.
- *
- * @min 0.001
- * @max 0.05
- * @group Position Estimator
- */
-PARAM_DEFINE_FLOAT(PE_GYRO_PNOISE, 0.015f);
-
-/**
- * Accelerometer process noise
- *
- * Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25.
- * Increasing this value makes the filter trust the accelerometer less
- * and other sensors more.
- *
- * @min 0.05
- * @max 1.0
- * @group Position Estimator
- */
-PARAM_DEFINE_FLOAT(PE_ACC_PNOISE, 0.25f);
-
-/**
- * Gyro bias estimate process noise
- *
- * Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f.
- * Increasing this value will make the gyro bias converge faster but noisier.
- *
- * @min 0.0000001
- * @max 0.00001
- * @group Position Estimator
- */
-PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f);
-
-/**
- * Accelerometer bias estimate process noise
- *
- * Generic defaults: 0.0001f, multicopters: 0.0001f, ground vehicles: 0.0001f.
- * Increasing this value makes the bias estimation faster and noisier.
- *
- * @min 0.0001
- * @max 0.001
- * @group Position Estimator
- */
-PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 0.0001f);
-
-/**
- * Magnetometer earth frame offsets process noise
- *
- * Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001.
- * Increasing this value makes the magnetometer earth bias estimate converge
- * faster but also noisier.
- *
- * @min 0.0001
- * @max 0.01
- * @group Position Estimator
- */
-PARAM_DEFINE_FLOAT(PE_MAGE_PNOISE, 0.0003f);
-
-/**
- * Magnetometer body frame offsets process noise
- *
- * Generic defaults: 0.0003, multicopters: 0.0003, ground vehicles: 0.0003.
- * Increasing this value makes the magnetometer body bias estimate converge faster
- * but also noisier.
- *
- * @min 0.0001
- * @max 0.01
- * @group Position Estimator
- */
-PARAM_DEFINE_FLOAT(PE_MAGB_PNOISE, 0.0003f);
-