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EKF: preliminary re-tune

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Paul Riseborough
2016-04-29 12:03:58 +10:00
parent 03c35266ef
commit 67d23948b5
1 changed files with 4 additions and 4 deletions
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EKF/common.h
+4 -4
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@@ -244,14 +244,14 @@ struct parameters {
range_delay_ms = 5.0f;
// input noise
gyro_noise = 6.0e-2f;
gyro_noise = 5.0e-2f;
accel_noise = 2.5e-1f;
// process noise
gyro_bias_p_noise = 2.5e-6f;
accel_bias_p_noise = 3.0e-5f;
gyro_bias_p_noise = 5.0e-5f;
accel_bias_p_noise = 1.0e-7f;
mage_p_noise = 2.5e-3f;
magb_p_noise = 5.0e-4f;
magb_p_noise = 1.0e-4f;
wind_vel_p_noise = 1.0e-1f;
terrain_p_noise = 5.0f;
terrain_gradient = 0.5f;