diff options
Diffstat (limited to 'apps/examples/kalman_demo/params.c')
-rw-r--r-- | apps/examples/kalman_demo/params.c | 25 |
1 files changed, 13 insertions, 12 deletions
diff --git a/apps/examples/kalman_demo/params.c b/apps/examples/kalman_demo/params.c index 2cdbc1435..58ebeba3c 100644 --- a/apps/examples/kalman_demo/params.c +++ b/apps/examples/kalman_demo/params.c @@ -1,15 +1,16 @@ #include <systemlib/param/param.h> /*PARAM_DEFINE_FLOAT(NAME,0.0f);*/ -PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.01f); -PARAM_DEFINE_FLOAT(KF_V_ACCEL, 0.01f); -PARAM_DEFINE_FLOAT(KF_R_MAG, 1.0f); -PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 1.0f); -PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 1.0f); -PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 1.0f); -PARAM_DEFINE_FLOAT(KF_R_ACCEL, 1.0f); -PARAM_DEFINE_FLOAT(KF_MAG_DIP, 60.0f); -PARAM_DEFINE_FLOAT(KF_MAG_DEC, 0.0f); -PARAM_DEFINE_FLOAT(KF_FAULT_POS, 1000.0f); -PARAM_DEFINE_FLOAT(KF_FAULT_ATT, 10.0f); -PARAM_DEFINE_FLOAT(KF_G, 9.806f); +PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.1f); +PARAM_DEFINE_FLOAT(KF_V_ACCEL, 0.1f); +PARAM_DEFINE_FLOAT(KF_R_MAG, 0.1f); +PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 0.1f); +PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 5.0f); +PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 5.0f); +PARAM_DEFINE_FLOAT(KF_R_ACCEL, 0.1f); +PARAM_DEFINE_FLOAT(KF_FAULT_POS, 1.0f); +PARAM_DEFINE_FLOAT(KF_FAULT_ATT, 1.0f); +PARAM_DEFINE_FLOAT(KF_ENV_G, 9.806f); +PARAM_DEFINE_FLOAT(KF_ENV_MAG_DIP, 60.0f); +PARAM_DEFINE_FLOAT(KF_ENV_MAG_DEC, 0.0f); + |