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Diffstat (limited to 'src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c')
| -rw-r--r-- | src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c | 271 |
1 files changed, 271 insertions, 0 deletions
diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c new file mode 100644 index 000000000..8c82dd6c1 --- /dev/null +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c @@ -0,0 +1,271 @@ +/**************************************************************************** + * + * Copyright (c) 2013, 2014 PX4 Development Team. All rights reserved. + * + * Redistribution and use in source and binary forms, with or without + * modification, are permitted provided that the following conditions + * are met: + * + * 1. Redistributions of source code must retain the above copyright + * notice, this list of conditions and the following disclaimer. + * 2. Redistributions in binary form must reproduce the above copyright + * notice, this list of conditions and the following disclaimer in + * the documentation and/or other materials provided with the + * distribution. + * 3. Neither the name PX4 nor the names of its contributors may be + * used to endorse or promote products derived from this software + * without specific prior written permission. + * + * THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS + * "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT + * LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS + * FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE + * COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, + * INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, + * BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS + * OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED + * AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT + * LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN + * ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE + * POSSIBILITY OF SUCH DAMAGE. + * + ****************************************************************************/ + +/** + * @file ekf_att_pos_estimator_params.c + * + * Parameters defined by the attitude and position estimator task + * + * @author Lorenz Meier <lm@inf.ethz.ch> + */ + +#include <nuttx/config.h> + +#include <systemlib/param/param.h> + +/* + * Estimator parameters, accessible via MAVLink + * + */ + +/** + * Velocity estimate delay + * + * The delay in milliseconds of the velocity estimate from GPS. + * + * @min 0 + * @max 1000 + * @group Position Estimator + */ +PARAM_DEFINE_INT32(PE_VEL_DELAY_MS, 230); + +/** + * Position estimate delay + * + * The delay in milliseconds of the position estimate from GPS. + * + * @min 0 + * @max 1000 + * @group Position Estimator + */ +PARAM_DEFINE_INT32(PE_POS_DELAY_MS, 210); + +/** + * Height estimate delay + * + * The delay in milliseconds of the height estimate from the barometer. + * + * @min 0 + * @max 1000 + * @group Position Estimator + */ +PARAM_DEFINE_INT32(PE_HGT_DELAY_MS, 350); + +/** + * Mag estimate delay + * + * The delay in milliseconds of the magnetic field estimate from + * the magnetometer. + * + * @min 0 + * @max 1000 + * @group Position Estimator + */ +PARAM_DEFINE_INT32(PE_MAG_DELAY_MS, 30); + +/** + * True airspeeed estimate delay + * + * The delay in milliseconds of the airspeed estimate. + * + * @min 0 + * @max 1000 + * @group Position Estimator + */ +PARAM_DEFINE_INT32(PE_TAS_DELAY_MS, 210); + +/** + * GPS vs. barometric altitude update weight + * + * RE-CHECK this. + * + * @min 0.0 + * @max 1.0 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_GPS_ALT_WGT, 0.9f); + +/** + * Airspeed measurement noise. + * + * Increasing this value will make the filter trust this sensor + * less and trust other sensors more. + * + * @min 0.5 + * @max 5.0 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_EAS_NOISE, 1.4f); + +/** + * Velocity measurement noise in north-east (horizontal) direction. + * + * Generic default: 0.3, multicopters: 0.5, ground vehicles: 0.5 + * + * @min 0.05 + * @max 5.0 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_VELNE_NOISE, 0.3f); + +/** + * Velocity noise in down (vertical) direction + * + * Generic default: 0.5, multicopters: 0.7, ground vehicles: 0.7 + * + * @min 0.05 + * @max 5.0 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_VELD_NOISE, 0.5f); + +/** + * Position noise in north-east (horizontal) direction + * + * Generic defaults: 0.5, multicopters: 0.5, ground vehicles: 0.5 + * + * @min 0.1 + * @max 10.0 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_POSNE_NOISE, 0.5f); + +/** + * Position noise in down (vertical) direction + * + * Generic defaults: 0.5, multicopters: 1.0, ground vehicles: 1.0 + * + * @min 0.1 + * @max 10.0 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_POSD_NOISE, 0.5f); + +/** + * Magnetometer measurement noise + * + * Generic defaults: 0.05, multicopters: 0.05, ground vehicles: 0.05 + * + * @min 0.1 + * @max 10.0 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_MAG_NOISE, 0.05f); + +/** + * Gyro process noise + * + * Generic defaults: 0.015, multicopters: 0.015, ground vehicles: 0.015. + * This noise controls how much the filter trusts the gyro measurements. + * Increasing it makes the filter trust the gyro less and other sensors more. + * + * @min 0.001 + * @max 0.05 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_GYRO_PNOISE, 0.015f); + +/** + * Accelerometer process noise + * + * Generic defaults: 0.25, multicopters: 0.25, ground vehicles: 0.25. + * Increasing this value makes the filter trust the accelerometer less + * and other sensors more. + * + * @min 0.05 + * @max 1.0 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_ACC_PNOISE, 0.25f); + +/** + * Gyro bias estimate process noise + * + * Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. + * Increasing this value will make the gyro bias converge faster but noisier. + * + * @min 0.0000001 + * @max 0.00001 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f); + +/** + * Accelerometer bias estimate process noise + * + * Generic defaults: 0.0001f, multicopters: 0.0001f, ground vehicles: 0.0001f. + * Increasing this value makes the bias estimation faster and noisier. + * + * @min 0.00001 + * @max 0.001 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 0.00005f); + +/** + * Magnetometer earth frame offsets process noise + * + * Generic defaults: 0.0001, multicopters: 0.0001, ground vehicles: 0.0001. + * Increasing this value makes the magnetometer earth bias estimate converge + * faster but also noisier. + * + * @min 0.0001 + * @max 0.01 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_MAGE_PNOISE, 0.0003f); + +/** + * Magnetometer body frame offsets process noise + * + * Generic defaults: 0.0003, multicopters: 0.0003, ground vehicles: 0.0003. + * Increasing this value makes the magnetometer body bias estimate converge faster + * but also noisier. + * + * @min 0.0001 + * @max 0.01 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_MAGB_PNOISE, 0.0003f); + +/** + * Threshold for filter initialization. + * + * If the standard deviation of the GPS position estimate is below this threshold + * in meters, the filter will initialize. + * + * @min 0.3 + * @max 10.0 + * @group Position Estimator + */ +PARAM_DEFINE_FLOAT(PE_POSDEV_INIT, 5.0f); |