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Better defaults for filter noise params

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Lorenz Meier 2015-03-15 12:00:37 +01:00
parent aceca6b2a9
commit bab79ece49
2 changed files with 6 additions and 6 deletions
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4
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c
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@ -218,7 +218,7 @@ PARAM_DEFINE_FLOAT(PE_ACC_PNOISE, 0.25f);
* @max 0.00001
* @group Position Estimator
*/
PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f);
PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-06f);
/**
* Accelerometer bias estimate process noise
@ -230,7 +230,7 @@ PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f);
* @max 0.001
* @group Position Estimator
*/
PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 0.00005f);
PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 0.0002f);
/**
* Magnetometer earth frame offsets process noise

8
src/modules/ekf_att_pos_estimator/estimator_22states.cpp
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@ -210,10 +210,10 @@ void AttPosEKF::InitialiseParameters()
yawVarScale = 1.0f;
windVelSigma = 0.1f;
dAngBiasSigma = 5.0e-7;
dVelBiasSigma = 1e-4f;
magEarthSigma = 3.0e-4f;
magBodySigma = 3.0e-4f;
dAngBiasSigma = 1.0e-6;
dVelBiasSigma = 0.0002f;
magEarthSigma = 0.0003f;
magBodySigma = 0.0003f;
vneSigma = 0.2f;
vdSigma = 0.3f;