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ekf2: Enable tuning of initial tilt alignment uncertainty

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This commit is contained in:
Paul Riseborough 2016-05-17 13:15:57 +10:00
parent 71db04c02c
commit 83cc9ef496
2 changed files with 14 additions and 1 deletions
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4
src/modules/ekf2/ekf2_main.cpp
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@ -251,6 +251,7 @@ private:
// 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)
control::BlockParamFloat _ang_err_init; // 1-sigma uncertainty in tilt angle after gravity vector alignment (rad)
int update_subscriptions();
@ -338,7 +339,8 @@ Ekf2::Ekf2():
_tau_vel(this, "EKF2_TAU_VEL", false, &_params->vel_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)
_acc_bias_init(this, "EKF2_ABIAS_INIT", false, &_params->switch_on_accel_bias),
_ang_err_init(this, "EKF2_ANGERR_INIT", false, &_params->initial_tilt_err)
{
}

11
src/modules/ekf2/ekf2_params.c
View File

@ -743,3 +743,14 @@ PARAM_DEFINE_FLOAT(EKF2_GBIAS_INIT, 0.1f);
* @decimal 2
*/
PARAM_DEFINE_FLOAT(EKF2_ABIAS_INIT, 0.2f);
/**
* 1-sigma tilt angle uncertainty after gravity vector alignment
*
* @group EKF2
* @min 0.0
* @max 0.5
* @unit rad
* @decimal 3
*/
PARAM_DEFINE_FLOAT(EKF2_ANGERR_INIT, 0.1f);