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Make LPE sonar reading more robust. (#4806)

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This commit is contained in:
James Goppert
2016-06-15 12:37:52 -04:00
committed by GitHub
parent a76eab367c
commit 2a26611cf5
5 changed files with 34 additions and 27 deletions
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src/modules/local_position_estimator/params.c
+5 -5
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@@ -126,7 +126,7 @@ PARAM_DEFINE_FLOAT(LPE_ACC_Z, 0.0454f);
* @max 3
* @decimal 2
*/
PARAM_DEFINE_FLOAT(LPE_BAR_Z, 1.0f);
PARAM_DEFINE_FLOAT(LPE_BAR_Z, 3.0f);
/**
* Enables GPS data, also forces alt init with GPS
@@ -264,7 +264,7 @@ PARAM_DEFINE_FLOAT(LPE_VIC_P, 0.05f);
* @max 1
* @decimal 8
*/
PARAM_DEFINE_FLOAT(LPE_PN_P, 0.1f);
PARAM_DEFINE_FLOAT(LPE_PN_P, 0.0f);
/**
* Velocity propagation noise density
@@ -275,7 +275,7 @@ PARAM_DEFINE_FLOAT(LPE_PN_P, 0.1f);
* @max 1
* @decimal 8
*/
PARAM_DEFINE_FLOAT(LPE_PN_V, 0.1f);
PARAM_DEFINE_FLOAT(LPE_PN_V, 0.0f);
/**
* Accel bias propagation noise density
@@ -289,7 +289,7 @@ PARAM_DEFINE_FLOAT(LPE_PN_V, 0.1f);
PARAM_DEFINE_FLOAT(LPE_PN_B, 1e-3f);
/**
* Terrain random walk noise density
* Terrain random walk noise density, hilly/outdoor (1e-1), flat/Indoor (1e-3)
*
* @group Local Position Estimator
* @unit m/s/sqrt(Hz)
@@ -297,7 +297,7 @@ PARAM_DEFINE_FLOAT(LPE_PN_B, 1e-3f);
* @max 1
* @decimal 3
*/
PARAM_DEFINE_FLOAT(LPE_PN_T, 1e-3f);
PARAM_DEFINE_FLOAT(LPE_PN_T, 1e-1f);
/**
* Flow gyro high pass filter cut off frequency