From 5895a2e96619a0c35a4c2383898582bde0ffdb6e Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 2 Oct 2012 10:41:46 +0200 Subject: Updated update / telemetry rates, updated covariance --- apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c | 9 ++++++--- 1 file changed, 6 insertions(+), 3 deletions(-) (limited to 'apps/attitude_estimator_ekf') diff --git a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c index c1f8380e6..8fa41e150 100644 --- a/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c +++ b/apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c @@ -306,9 +306,10 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) q[0] = 1e1f; q[1] = 1e1f; q[2] = 1e1f; - q[3] = 1e-6f; - q[4] = 1e-6f; - q[5] = 1e-6f; + /* process noise gyro offset covariance */ + q[3] = 1e-4f; + q[4] = 1e-4f; + q[5] = 1e-4f; q[6] = 1e-1f; q[7] = 1e-1f; q[8] = 1e-1f; @@ -347,6 +348,8 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[]) continue; } + dt = 0.004f; + uint64_t timing_start = hrt_absolute_time(); // attitudeKalmanfilter(dt, update_vect, z_k, &z_k_sizes, u, x_aposteriori_k, P_aposteriori_k, knownConst, euler, // Rot_matrix, x_aposteriori, P_aposteriori); -- cgit v1.2.3