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| author | Anton Babushkin <anton.babushkin@me.com> | 2014-02-10 08:54:48 +0100 |
|---|---|---|
| committer | Anton Babushkin <anton.babushkin@me.com> | 2014-02-10 08:54:48 +0100 |
| commit | a9e5e2e31a73e4ca546bf89e807b71187a41b657 (patch) | |
| tree | 3a737417707a00868756191704aa89cc7912a773 /src/modules | |
| parent | ce83f450b8ef96fef095ed28cf3ae8ed8b8c8373 (diff) | |
| download | px4-firmware-a9e5e2e31a73e4ca546bf89e807b71187a41b657.tar.gz px4-firmware-a9e5e2e31a73e4ca546bf89e807b71187a41b657.tar.bz2 px4-firmware-a9e5e2e31a73e4ca546bf89e807b71187a41b657.zip | |
position_estimator_inav: default parameters and min/max EPH/EPV updated
Diffstat (limited to 'src/modules')
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_main.c | 8 | ||||
| -rw-r--r-- | src/modules/position_estimator_inav/position_estimator_inav_params.c | 2 |
2 files changed, 5 insertions, 5 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 e045ce4cc..bf4f7ae97 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_main.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_main.c @@ -527,13 +527,13 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) if (gps.fix_type >= 3) { /* hysteresis for GPS quality */ if (gps_valid) { - if (gps.eph_m > 10.0f || gps.epv_m > 10.0f) { + if (gps.eph_m > 10.0f || gps.epv_m > 20.0f) { gps_valid = false; mavlink_log_info(mavlink_fd, "[inav] GPS signal lost"); } } else { - if (gps.eph_m < 5.0f && gps.epv_m < 5.0f) { + if (gps.eph_m < 5.0f && gps.epv_m < 10.0f) { gps_valid = true; mavlink_log_info(mavlink_fd, "[inav] GPS signal found"); } @@ -589,8 +589,8 @@ int position_estimator_inav_thread_main(int argc, char *argv[]) corr_gps[2][1] = 0.0f; } - w_gps_xy = 1.0f / fmaxf(1.0f, gps.eph_m); - w_gps_z = 1.0f / fmaxf(1.0f, gps.epv_m); + w_gps_xy = 2.0f / fmaxf(2.0f, gps.eph_m); + w_gps_z = 4.0f / fmaxf(4.0f, gps.epv_m); } } else { 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 e1bbd75a6..b71f9472f 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -40,7 +40,7 @@ #include "position_estimator_inav_params.h" -PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 1.0f); +PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 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); |