From cf56db21a3e2987569e03edca8ef41b6f6f272b5 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 15 Mar 2015 12:00:48 +0100 Subject: Better defaults for filter tuning params --- ROMFS/px4fmu_common/init.d/rc.fw_defaults | 7 +++++++ ROMFS/px4fmu_common/init.d/rc.mc_defaults | 2 ++ ROMFS/px4fmu_common/init.d/rc.vtol_defaults | 7 +++++++ 3 files changed, 16 insertions(+) (limited to 'ROMFS') diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults index e6de64054..156711c26 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults @@ -15,4 +15,11 @@ then param set FW_T_RLL2THR 15 param set FW_T_SRATE_P 0.01 param set FW_T_TIME_CONST 5 + + param set PE_VELNE_NOISE 0.3 + param set PE_VELD_NOISE 0.5 + param set PE_POSNE_NOISE 0.5 + param set PE_POSD_NOISE 0.5 + param set PE_GBIAS_PNOISE 0.000001 + param set PE_ABIAS_PNOISE 0.0002 fi diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults index 24d9650a0..1f34282ae 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -40,6 +40,8 @@ then param set PE_VELD_NOISE 0.7 param set PE_POSNE_NOISE 0.5 param set PE_POSD_NOISE 1.0 + param set PE_GBIAS_PNOISE 0.000001 + param set PE_ABIAS_PNOISE 0.0001 param set NAV_ACC_RAD 2.0 param set RTL_RETURN_ALT 30.0 diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults index 6dc5a65db..844d540bf 100644 --- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults @@ -32,6 +32,13 @@ then param set FW_RR_I 0.00 param set FW_RR_IMAX 0.2 param set FW_RR_P 0.02 + + param set PE_VELNE_NOISE 0.5 + param set PE_VELD_NOISE 0.7 + param set PE_POSNE_NOISE 0.5 + param set PE_POSD_NOISE 1.0 + param set PE_GBIAS_PNOISE 0.000001 + param set PE_ABIAS_PNOISE 0.0001 fi set PWM_DISARMED 900 -- cgit v1.2.3