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EKF: Update default value for sideslip fusion noise

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Use value obtained from tuning on replay logs
This commit is contained in:
Paul Riseborough
2016-11-15 23:58:05 +01:00
committed by Lorenz Meier
parent 680a8f0b44
commit 056ac3c9c6
2 changed files with 7 additions and 6 deletions
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src/modules/ekf2/ekf2_main.cpp
+1 -1
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@@ -208,7 +208,7 @@ private:
control::BlockParamExtFloat _mag_heading_noise; // measurement noise used for simple heading fusion
control::BlockParamExtFloat _mag_noise; // measurement noise used for 3-axis magnetoemter fusion (Gauss)
control::BlockParamExtFloat _eas_noise; // measurement noise used for airspeed fusion (std m/s)
control::BlockParamExtFloat _beta_noise; // synthetic sideslip noise (m/s)
control::BlockParamExtFloat _beta_noise; // synthetic sideslip noise (m/s)
control::BlockParamExtFloat _mag_declination_deg;// magnetic declination in degrees
control::BlockParamExtFloat _heading_innov_gate;// innovation gate for heading innovation test
control::BlockParamExtFloat _mag_innov_gate; // innovation gate for magnetometer innovation test
src/modules/ekf2/ekf2_params.c
+6 -5
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@@ -387,15 +387,16 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_NOISE, 5.0e-2f);
PARAM_DEFINE_FLOAT(EKF2_EAS_NOISE, 1.4f);
/**
* Noise for syntetic sideslip fusion.
* Noise for synthetic sideslip fusion.
*
* @group EKF2
* @min 0.5
* @max 5.0
* @min 0.1
* @max 1.0
* @unit m/s
* @decimal 1
* @decimal 2
*/
PARAM_DEFINE_FLOAT(EKF2_BETA_NOISE, 5.0f);
PARAM_DEFINE_FLOAT(EKF2_BETA_NOISE, 0.3f);
/**
* Magnetic declination
*