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Better defaults for filter noise params

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This commit is contained in:
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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src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c
+2 -2
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@@ -218,7 +218,7 @@ PARAM_DEFINE_FLOAT(PE_ACC_PNOISE, 0.25f);
* @max 0.00001 * @max 0.00001
* @group Position Estimator * @group Position Estimator
*/ */
PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f); PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-06f);
/** /**
* Accelerometer bias estimate process noise * Accelerometer bias estimate process noise
@@ -230,7 +230,7 @@ PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f);
* @max 0.001 * @max 0.001
* @group Position Estimator * @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 * Magnetometer earth frame offsets process noise
src/modules/ekf_att_pos_estimator/estimator_22states.cpp
+4 -4
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@@ -210,10 +210,10 @@ void AttPosEKF::InitialiseParameters()
yawVarScale = 1.0f; yawVarScale = 1.0f;
windVelSigma = 0.1f; windVelSigma = 0.1f;
dAngBiasSigma = 5.0e-7; dAngBiasSigma = 1.0e-6;
dVelBiasSigma = 1e-4f; dVelBiasSigma = 0.0002f;
magEarthSigma = 3.0e-4f; magEarthSigma = 0.0003f;
magBodySigma = 3.0e-4f; magBodySigma = 0.0003f;
vneSigma = 0.2f; vneSigma = 0.2f;
vdSigma = 0.3f; vdSigma = 0.3f;