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| author | Lorenz Meier <lm@inf.ethz.ch> | 2014-09-01 21:04:44 +0200 |
|---|---|---|
| committer | Lorenz Meier <lm@inf.ethz.ch> | 2014-09-01 21:04:44 +0200 |
| commit | 428b9612abd3ca892a7240d284916c50e2496cea (patch) | |
| tree | 99479c1245bd3d021f584f65e7c20c96cb914813 /src/modules/position_estimator_inav | |
| parent | 8eb5aeaae3154f3faa6ac493ddc3d6aefdbaecc0 (diff) | |
| download | px4-firmware-428b9612abd3ca892a7240d284916c50e2496cea.tar.gz px4-firmware-428b9612abd3ca892a7240d284916c50e2496cea.tar.bz2 px4-firmware-428b9612abd3ca892a7240d284916c50e2496cea.zip | |
INAV: Adjust vision default params
Diffstat (limited to 'src/modules/position_estimator_inav')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 4 | ||||
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_params.c | 2 |
2 files changed, 3 insertions, 3 deletions
diff --git a/src/modules/position_estimator_inav/position_estimator_inav_main.c b/src/modules/position_estimator_inav/position_estimator_inav_main.c index 81bbaa658..3f59eb597 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -235,8 +235,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) float eph_flow = 1.0f; - float eph_vision = 0.5f; - float epv_vision = 0.5f; + float eph_vision = 0.2f; + float epv_vision = 0.2f; float x_est_prev[2], y_est_prev[2], z_est_prev[2]; memset(x_est_prev, 0, sizeof(x_est_prev)); diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c index cc0fb4155..b7f6509d7 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -116,7 +116,7 @@ PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f); * @max 10.0 * @group Position Estimator INAV */ -PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_P, 5.0f); +PARAM_DEFINE_FLOAT(INAV_W_XY_VIS_P, 7.0f); /** * XY axis weight for vision velocity |