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EKF: Use specific position observation noise when flying without GPS

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A larger position uncertainty is required when flying without GPS to reduce tilt attitude estimation errors caused by vehicle manoeuvring. This needs to be tuneable to allow optimisation for different use cases (e.g. outdoor vs indoor).
This commit is contained in:
Paul Riseborough
2016-02-03 18:40:32 +11:00
parent 7de1d39ce4
commit 9bfc11b660
2 changed files with 7 additions and 1 deletions
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EKF/vel_pos_fusion.cpp
+6 -1
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@@ -84,7 +84,12 @@ void Ekf::fuseVelPosHeight()
_vel_pos_innov[3] = _state.pos(0) - _gps_sample_delayed.pos(0);
_vel_pos_innov[4] = _state.pos(1) - _gps_sample_delayed.pos(1);
// observation variance - user parameter defined
R[3] = fmaxf(_params.gps_pos_noise, 0.01f);
// if we are in flight and not using GPS, then use a specific parameter
if (!_control_status.flags.gps && _control_status.flags.in_air) {
R[3] = fmaxf(_params.pos_noaid_noise, 0.5f);
} else {
R[3] = fmaxf(_params.gps_pos_noise, 0.01f);
}
R[3] = R[3] * R[3];
R[4] = R[3];
// innovation gate sizes