From 056ac3c9c6ad7f5f2509a5f77dbc5114578455d1 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Sat, 5 Nov 2016 10:39:46 +1100 Subject: [PATCH] EKF: Update default value for sideslip fusion noise Use value obtained from tuning on replay logs --- src/modules/ekf2/ekf2_main.cpp | 2 +- src/modules/ekf2/ekf2_params.c | 11 ++++++----- 2 files changed, 7 insertions(+), 6 deletions(-) diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp index 39db899676..a95ee6a5e8 100644 --- a/src/modules/ekf2/ekf2_main.cpp +++ b/src/modules/ekf2/ekf2_main.cpp @@ -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 diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c index 9413653ded..e214955aeb 100644 --- a/src/modules/ekf2/ekf2_params.c +++ b/src/modules/ekf2/ekf2_params.c @@ -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 *