diff options
| author | Anton Babushkin <anton.babushkin@me.com> | 2014-01-20 18:35:06 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-01-20 18:35:06 +0100 |
| commit | 7956c8b08e53be876e96ddd434799b96ce5b7661 (patch) | |
| tree | bb7213e56f9e888453bcc0be7dd8f985104d31b5 /src/modules/position_estimator_inav | |
| parent | a3dbd817dc2de17078f69768861e9474e5f024ce (diff) | |
| download | px4-firmware-7956c8b08e53be876e96ddd434799b96ce5b7661.tar.gz px4-firmware-7956c8b08e53be876e96ddd434799b96ce5b7661.tar.bz2 px4-firmware-7956c8b08e53be876e96ddd434799b96ce5b7661.zip | |
position_estimator_inav: default parameters updated
Diffstat (limited to 'src/modules/position_estimator_inav')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_params.c | 6 |
1 files changed, 3 insertions, 3 deletions
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 da4c9482c..e1bbd75a6 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -41,15 +41,15 @@ #include "position_estimator_inav_params.h" PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 1.0f); -PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.5f); +PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f); PARAM_DEFINE_FLOAT(INAV_W_Z_ACC, 20.0f); PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f); -PARAM_DEFINE_FLOAT(INAV_W_XY_ACC, 10.0f); +PARAM_DEFINE_FLOAT(INAV_W_XY_ACC, 20.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 5.0f); PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f); -PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.0f); +PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f); PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.0165f); PARAM_DEFINE_FLOAT(INAV_FLOW_Q_MIN, 0.5f); PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.05f); |