Add filter parameters and multicopter defaults to parametrize Pauls estimator correctly when running for multicopters. Estimator itself not updated yet, will be next step.

1 files changed, 131 insertions, 0 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
index 6138ef39c..9d01a095c 100644
--- 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
@@ -115,3 +115,134 @@ PARAM_DEFINE_INT32(PE_TAS_DELAY_MS, 210);
  */
 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);
+