From 6eba7a9e41ca3e5fac9c3b5feb74af9f37774987 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 28 Mar 2013 12:47:47 +0100 Subject: Fix gyro measurement noise variance --- apps/examples/kalman_demo/params.c | 3 +-- 1 file changed, 1 insertion(+), 2 deletions(-) diff --git a/apps/examples/kalman_demo/params.c b/apps/examples/kalman_demo/params.c index 91e80a5ea..50642f067 100644 --- a/apps/examples/kalman_demo/params.c +++ b/apps/examples/kalman_demo/params.c @@ -1,7 +1,7 @@ #include /*PARAM_DEFINE_FLOAT(NAME,0.0f);*/ -PARAM_DEFINE_FLOAT(KF_V_GYRO, 1.0f); +PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.008f); PARAM_DEFINE_FLOAT(KF_V_ACCEL, 1.0f); PARAM_DEFINE_FLOAT(KF_R_MAG, 1.0f); PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 1.0f); @@ -14,4 +14,3 @@ PARAM_DEFINE_FLOAT(KF_FAULT_ATT, 10.0f); PARAM_DEFINE_FLOAT(KF_ENV_G, 9.765f); PARAM_DEFINE_FLOAT(KF_ENV_MAG_DIP, 60.0f); PARAM_DEFINE_FLOAT(KF_ENV_MAG_DEC, 0.0f); - -- cgit v1.2.3 From 9dbd2695d3b476e8ed0a2001b027329e8600bd29 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Thu, 28 Mar 2013 12:48:28 +0100 Subject: Hotfix missing yaw deadzone default (leads to continuous turns since zero speed is never commanded) --- apps/sensors/sensor_params.c | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/apps/sensors/sensor_params.c b/apps/sensors/sensor_params.c index a1ef9d136..c850e3a1e 100644 --- a/apps/sensors/sensor_params.c +++ b/apps/sensors/sensor_params.c @@ -88,7 +88,7 @@ PARAM_DEFINE_FLOAT(RC4_MIN, 1000); PARAM_DEFINE_FLOAT(RC4_TRIM, 1500); PARAM_DEFINE_FLOAT(RC4_MAX, 2000); PARAM_DEFINE_FLOAT(RC4_REV, 1.0f); -PARAM_DEFINE_FLOAT(RC4_DZ, 0.0f); +PARAM_DEFINE_FLOAT(RC4_DZ, 30.0f); PARAM_DEFINE_FLOAT(RC5_MIN, 1000); PARAM_DEFINE_FLOAT(RC5_TRIM, 1500); -- cgit v1.2.3