fly316/PX4-Autopilot
7
0
Fork 0
mirror of https://gitee.com/mirrors_PX4/PX4-Autopilot.git synced 2026-11-01 05:51:36 +08:00
Code Issues Packages Projects Releases Wiki Activity

EKF: Use more conservative value for delta velocity bias process noise

Browse Source 
Smaller values have resulted in bias estimation divergence under some conditions
This commit is contained in:
Paul Riseborough
2020-02-05 15:20:34 +01:00
committed by Lorenz Meier
parent 21054a4236
commit a3347b7e06
1 changed files with 1 additions and 1 deletions
Download Patch File Download Diff File Expand all files Collapse all files
EKF/common.h
+1 -1
View File
@@ -223,7 +223,7 @@ struct parameters {
// process noise // process noise
float gyro_bias_p_noise{1.0e-3f}; ///< process noise for IMU rate gyro bias prediction (rad/sec**2) float gyro_bias_p_noise{1.0e-3f}; ///< process noise for IMU rate gyro bias prediction (rad/sec**2)
float accel_bias_p_noise{6.0e-3f}; ///< process noise for IMU accelerometer bias prediction (m/sec**3) float accel_bias_p_noise{1.0e-2f}; ///< process noise for IMU accelerometer bias prediction (m/sec**3)
float mage_p_noise{1.0e-3f}; ///< process noise for earth magnetic field prediction (Gauss/sec) float mage_p_noise{1.0e-3f}; ///< process noise for earth magnetic field prediction (Gauss/sec)
float magb_p_noise{1.0e-4f}; ///< process noise for body magnetic field prediction (Gauss/sec) float magb_p_noise{1.0e-4f}; ///< process noise for body magnetic field prediction (Gauss/sec)
float wind_vel_p_noise{1.0e-1f}; ///< process noise for wind velocity prediction (m/sec**2) float wind_vel_p_noise{1.0e-1f}; ///< process noise for wind velocity prediction (m/sec**2)