From bab79ece49692e61c042ebc384f222a01fa4bb14 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 15 Mar 2015 12:00:37 +0100 Subject: Better defaults for filter noise params --- src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c | 4 ++-- src/modules/ekf_att_pos_estimator/estimator_22states.cpp | 8 ++++---- 2 files changed, 6 insertions(+), 6 deletions(-) (limited to 'src/modules') 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 index 8c82dd6c1..f8cca6c0d 100644 --- 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 @@ -218,7 +218,7 @@ PARAM_DEFINE_FLOAT(PE_ACC_PNOISE, 0.25f); * @max 0.00001 * @group Position Estimator */ -PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f); +PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-06f); /** * Accelerometer bias estimate process noise @@ -230,7 +230,7 @@ PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f); * @max 0.001 * @group Position Estimator */ -PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 0.00005f); +PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 0.0002f); /** * Magnetometer earth frame offsets process noise diff --git a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp index 4fac83db2..817590bab 100644 --- a/src/modules/ekf_att_pos_estimator/estimator_22states.cpp +++ b/src/modules/ekf_att_pos_estimator/estimator_22states.cpp @@ -210,10 +210,10 @@ void AttPosEKF::InitialiseParameters() yawVarScale = 1.0f; windVelSigma = 0.1f; - dAngBiasSigma = 5.0e-7; - dVelBiasSigma = 1e-4f; - magEarthSigma = 3.0e-4f; - magBodySigma = 3.0e-4f; + dAngBiasSigma = 1.0e-6; + dVelBiasSigma = 0.0002f; + magEarthSigma = 0.0003f; + magBodySigma = 0.0003f; vneSigma = 0.2f; vdSigma = 0.3f; -- cgit v1.2.3