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EKF: Increase measurement error allowance for accelerometer clipping

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This commit is contained in:
Paul Riseborough
2017-04-07 16:37:27 +10:00
parent f0bbbc8dc6
commit 7b996c5972
2 changed files with 4 additions and 3 deletions
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EKF/common.h
+1 -1
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@@ -172,7 +172,7 @@ struct extVisionSample {
// bad accelerometer detection and mitigation // bad accelerometer detection and mitigation
#define BADACC_PROBATION 10E6 // Number of usec that accel data declared bad must continuously pass checks to be declared good #define BADACC_PROBATION 10E6 // Number of usec that accel data declared bad must continuously pass checks to be declared good
#define BADACC_HGT_RESET 1E6 // Number of usec that accel data must continuously fail checks to trigger a height reset #define BADACC_HGT_RESET 1E6 // Number of usec that accel data must continuously fail checks to trigger a height reset
#define BADACC_BIAS_PNOISE_MULT 2.0f // The delta velocity process noise is multiplied by this value when accel data is declared bad #define BADACC_BIAS_PNOISE 4.9f // The delta velocity process noise is set to this when accel data is declared bad (m/s**2)
struct parameters { struct parameters {
// measurement source control // measurement source control
EKF/covariance.cpp
+3 -2
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@@ -235,8 +235,9 @@ void Ekf::predictCovariance()
daxVar = dayVar = dazVar = sq(dt * gyro_noise); daxVar = dayVar = dazVar = sq(dt * gyro_noise);
float accel_noise = math::constrain(_params.accel_noise, 0.0f, 1.0f); float accel_noise = math::constrain(_params.accel_noise, 0.0f, 1.0f);
if (_bad_vert_accel_detected) { if (_bad_vert_accel_detected) {
// increase accelerometer process noise if bad accel data is detected // Increase accelerometer process noise if bad accel data is detected. Measurement errors due to
accel_noise *= BADACC_BIAS_PNOISE_MULT; // vibration induced clipping commonly reach an equivalent 0.5g offset.
accel_noise = BADACC_BIAS_PNOISE;
} }
dvxVar = dvyVar = dvzVar = sq(dt * accel_noise); dvxVar = dvyVar = dvzVar = sq(dt * accel_noise);