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Change to LPE terrain model to account for velocity scaling. (#5027)

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This commit is contained in:
James Goppert
2016-07-11 16:02:39 -04:00
committed by GitHub
parent a740d80a20
commit 817f695297
3 changed files with 9 additions and 9 deletions
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src/modules/local_position_estimator/params.c
+4 -4
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@@ -286,15 +286,15 @@ PARAM_DEFINE_FLOAT(LPE_PN_V, 0.1f);
PARAM_DEFINE_FLOAT(LPE_PN_B, 1e-3f);
/**
* Terrain random walk noise density, hilly/outdoor (1e-1), flat/Indoor (1e-3)
* Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg)
*
* @group Local Position Estimator
* @unit m/s/sqrt(Hz)
* @unit %
* @min 0
* @max 1
* @max 100
* @decimal 3
*/
PARAM_DEFINE_FLOAT(LPE_PN_T, 1e-1f);
PARAM_DEFINE_FLOAT(LPE_T_MAX_GRADE, 1.0f);
/**
* Flow gyro high pass filter cut off frequency