diff options
Diffstat (limited to 'apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c')
| -rwxr-xr-x | apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c | 36 |
1 files changed, 18 insertions, 18 deletions
diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c index 5b7756611..7d3812abd 100755 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -44,19 +44,19 @@ /* Extended Kalman Filter covariances */ /* gyro process noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_Q0, 1e1f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q1, 1e1f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q2, 1e1f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q0, 1e-4f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q1, 0.08f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q2, 0.009f); /* gyro offsets process noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_Q3, 1e-4f); -PARAM_DEFINE_FLOAT(EKF_ATT_Q4, 1e-4f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q3, 0.005f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q4, 0.0f); /* gyro measurement noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_R0, 0.01f); -PARAM_DEFINE_FLOAT(EKF_ATT_R1, 0.01f); -PARAM_DEFINE_FLOAT(EKF_ATT_R2, 0.01f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_R0, 0.0008f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_R1, 0.8f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_R2, 1.0f); /* accelerometer measurement noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_R3, 1e2f); +PARAM_DEFINE_FLOAT(EKF_ATT_V2_R3, 0.0f); /* offsets in roll, pitch and yaw of sensor plane and body */ PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f); @@ -66,16 +66,16 @@ PARAM_DEFINE_FLOAT(ATT_YAW_OFFS, 0.0f); int parameters_init(struct attitude_estimator_ekf_param_handles *h) { /* PID parameters */ - h->q0 = param_find("EKF_ATT_Q0"); - h->q1 = param_find("EKF_ATT_Q1"); - h->q2 = param_find("EKF_ATT_Q2"); - h->q3 = param_find("EKF_ATT_Q3"); - h->q4 = param_find("EKF_ATT_Q4"); + h->q0 = param_find("EKF_ATT_V2_Q0"); + h->q1 = param_find("EKF_ATT_V2_Q1"); + h->q2 = param_find("EKF_ATT_V2_Q2"); + h->q3 = param_find("EKF_ATT_V2_Q3"); + h->q4 = param_find("EKF_ATT_V2_Q4"); - h->r0 = param_find("EKF_ATT_R0"); - h->r1 = param_find("EKF_ATT_R1"); - h->r2 = param_find("EKF_ATT_R2"); - h->r3 = param_find("EKF_ATT_R3"); + h->r0 = param_find("EKF_ATT_V2_R0"); + h->r1 = param_find("EKF_ATT_V2_R1"); + h->r2 = param_find("EKF_ATT_V2_R2"); + h->r3 = param_find("EKF_ATT_V2_R3"); h->roll_off = param_find("ATT_ROLL_OFFS"); h->pitch_off = param_find("ATT_PITCH_OFFS"); |