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att ekf: add descriptions for params

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Thomas Gubler
2014-07-25 15:42:01 +02:00
parent 63fa17ef0d
commit 963394f0e4
1 changed files with 45 additions and 9 deletions
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src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
+45 -9
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@@ -44,18 +44,54 @@
/* Extended Kalman Filter covariances */
/* gyro process noise */
/**
* Body angular rate process noise
*
* @group attitude_ekf
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q0, 1e-4f);
/**
* Body angular acceleration process noise
*
* @group attitude_ekf
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q1, 0.08f);
/**
* Acceleration process noise
*
* @group attitude_ekf
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q2, 0.009f);
/* gyro offsets process noise */
/**
* Magnet field vector process noise
*
* @group attitude_ekf
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f);
/* gyro measurement noise */
/**
* Gyro measurement noise
*
* @group attitude_ekf
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R0, 0.0008f);
/* accel measurement noise */
/**
* Accel measurement noise
*
* @group attitude_ekf
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f);
/* mag measurement noise */
/**
* Mag measurement noise
*
* @group attitude_ekf
*/
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f);
/* magnetic declination, in degrees */
@@ -63,7 +99,7 @@ PARAM_DEFINE_FLOAT(ATT_MAG_DECL, 0.0f);
PARAM_DEFINE_INT32(ATT_ACC_COMP, 2);
/*
/**
* Moment of inertia matrix diagonal entry (1, 1)
*
* @group attitude_ekf
@@ -71,7 +107,7 @@ PARAM_DEFINE_INT32(ATT_ACC_COMP, 2);
*/
PARAM_DEFINE_FLOAT(ATT_J11, 0.0018);
/*
/**
* Moment of inertia matrix diagonal entry (2, 2)
*
* @group attitude_ekf
@@ -79,7 +115,7 @@ PARAM_DEFINE_FLOAT(ATT_J11, 0.0018);
*/
PARAM_DEFINE_FLOAT(ATT_J22, 0.0018);
/*
/**
* Moment of inertia matrix diagonal entry (3, 3)
*
* @group attitude_ekf
@@ -87,7 +123,7 @@ PARAM_DEFINE_FLOAT(ATT_J22, 0.0018);
*/
PARAM_DEFINE_FLOAT(ATT_J33, 0.0037);
/*
/**
* Moment of inertia enabled in estimator
*
* If set to != 0 the moment of inertia will be used in the estimator