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ekf2: Add tuning for IMU switch-on bias errors

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This commit is contained in:
Paul Riseborough 2016-05-17 11:14:12 +10:00
parent ec991ab1a8
commit 7d2d15643d
2 changed files with 29 additions and 1 deletions
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8
src/modules/ekf2/ekf2_main.cpp
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@ -248,6 +248,10 @@ private:
control::BlockParamFloat _tau_vel; // time constant used by the output velocity complementary filter (s)
control::BlockParamFloat _tau_pos; // time constant used by the output position complementary filter (s)
// IMU switch on bias paameters
control::BlockParamFloat _gyr_bias_init; // 1-sigma gyro bias uncertainty at switch-on (rad/sec)
control::BlockParamFloat _acc_bias_init; // 1-sigma accelerometer bias uncertainty at switch-on (m/s**2)
int update_subscriptions();
};
@ -332,7 +336,9 @@ Ekf2::Ekf2():
_flow_pos_y(this, "EKF2_OF_POS_Y", false, &_params->flow_pos_body(1)),
_flow_pos_z(this, "EKF2_OF_POS_Z", false, &_params->flow_pos_body(2)),
_tau_vel(this, "EKF2_TAU_VEL", false, &_params->vel_Tau),
_tau_pos(this, "EKF2_TAU_POS", false, &_params->pos_Tau)
_tau_pos(this, "EKF2_TAU_POS", false, &_params->pos_Tau),
_gyr_bias_init(this, "EKF2_GBIAS_INIT", false, &_params->switch_on_gyro_bias),
_acc_bias_init(this, "EKF2_ABIAS_INIT", false, &_params->switch_on_accel_bias)
{
}

22
src/modules/ekf2/ekf2_params.c
View File

@ -721,3 +721,25 @@ PARAM_DEFINE_FLOAT(EKF2_TAU_VEL, 0.5f);
* @decimal 2
*/
PARAM_DEFINE_FLOAT(EKF2_TAU_POS, 0.25f);
/**
* 1-sigma IMU gyro switch-on bias
*
* @group EKF2
* @min 0.0
* @max 0.2
* @unit rad/sec
* @decimal 2
*/
PARAM_DEFINE_FLOAT(EKF2_GBIAS_INIT, 0.1f);
/**
* 1-sigma IMU accelerometer switch-on bias
*
* @group EKF2
* @min 0.0
* @max 0.5
* @unit m/s/s
* @decimal 2
*/
PARAM_DEFINE_FLOAT(EKF2_ABIAS_INIT, 0.2f);