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ekf2: Add tuning for IMU switch-on bias errors

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This commit is contained in:
Paul Riseborough
2016-05-18 12:44:04 +10:00
parent ec991ab1a8
commit 7d2d15643d
2 changed files with 29 additions and 1 deletions
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src/modules/ekf2/ekf2_params.c
+22
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@@ -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);