fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-05-23 04:47:34 +08:00
Code Issues Packages Projects Releases Wiki Activity

ekf2: Enable tuning of initial tilt alignment uncertainty

Browse Source
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
Download Patch File Download Diff File Expand all files Collapse all files
src/modules/ekf2/ekf2_main.cpp
+3 -1
View File
@@ -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)
{
}