From 963394f0e43a57dd765541b9c226b5cbf70c9073 Mon Sep 17 00:00:00 2001 From: Thomas Gubler Date: Fri, 25 Jul 2014 15:42:01 +0200 Subject: att ekf: add descriptions for params --- .../attitude_estimator_ekf_params.c | 54 ++++++++++++++++++---- 1 file changed, 45 insertions(+), 9 deletions(-) diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c index 5c33bc2ac..5637ec102 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -44,18 +44,54 @@ /* Extended Kalman Filter covariances */ -/* gyro process noise */ + +/** + * Body angular rate process noise + * + * @group attitude_ekf + */ PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q0, 1e-4f); + +/** + * Body angular acceleration process noise + * + * @group attitude_ekf + */ PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q1, 0.08f); + +/** + * Acceleration process noise + * + * @group attitude_ekf + */ PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q2, 0.009f); -/* gyro offsets process noise */ + +/** + * Magnet field vector process noise + * + * @group attitude_ekf + */ PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f); -/* gyro measurement noise */ +/** + * Gyro measurement noise + * + * @group attitude_ekf + */ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R0, 0.0008f); -/* accel measurement noise */ + +/** + * Accel measurement noise + * + * @group attitude_ekf + */ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f); -/* mag measurement noise */ + +/** + * Mag measurement noise + * + * @group attitude_ekf + */ PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f); /* magnetic declination, in degrees */ @@ -63,7 +99,7 @@ PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f); PARAM_DEFINE_INT32(ATT_ACC_COMP, 2); -/* +/** * Moment of inertia matrix diagonal entry (1, 1) * * @group attitude_ekf @@ -71,7 +107,7 @@ PARAM_DEFINE_INT32(ATT_ACC_COMP, 2); */ PARAM_DEFINE_FLOAT(ATT_J11, 0.0018); -/* +/** * Moment of inertia matrix diagonal entry (2, 2) * * @group attitude_ekf @@ -79,7 +115,7 @@ PARAM_DEFINE_FLOAT(ATT_J11, 0.0018); */ PARAM_DEFINE_FLOAT(ATT_J22, 0.0018); -/* +/** * Moment of inertia matrix diagonal entry (3, 3) * * @group attitude_ekf @@ -87,7 +123,7 @@ PARAM_DEFINE_FLOAT(ATT_J22, 0.0018); */ PARAM_DEFINE_FLOAT(ATT_J33, 0.0037); -/* +/** * Moment of inertia enabled in estimator * * If set to != 0 the moment of inertia will be used in the estimator -- cgit v1.2.3