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Enabled gps delay for lpe based on x hist.

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This commit is contained in:
James Goppert
2016-03-17 11:27:13 -04:00
parent ce7dad81c2
commit bcba1fb27e
6 changed files with 255 additions and 192 deletions
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src/modules/local_position_estimator/params.c
+36 -23
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@@ -105,7 +105,7 @@ PARAM_DEFINE_FLOAT(LPE_LDR_OFF_Z, 0.00f);
* should be 0.0464
*
* @group Local Position Estimator
* @unit m/s/s
* @unit m/s^2
* @min 0.00001
* @max 2
* @decimal 4
@@ -118,7 +118,7 @@ PARAM_DEFINE_FLOAT(LPE_ACC_XY, 0.0454f);
* (see Accel x comments)
*
* @group Local Position Estimator
* @unit m/s/s
* @unit m/s^2
* @min 0.00001
* @max 2
* @decimal 4
@@ -136,6 +136,19 @@ PARAM_DEFINE_FLOAT(LPE_ACC_Z, 0.0454f);
*/
PARAM_DEFINE_FLOAT(LPE_BAR_Z, 1.0f);
/**
* GPS delay compensaton
*
* @group Local Position Estimator
* @unit sec
* @min 0
* @max 0.4
* @decimal 2
*/
PARAM_DEFINE_FLOAT(LPE_GPS_DELAY, 0.25f);
/**
* GPS xy standard deviation.
*
@@ -153,10 +166,10 @@ PARAM_DEFINE_FLOAT(LPE_GPS_XY, 2.0f);
* @group Local Position Estimator
* @unit m
* @min 0.01
* @max 20
* @max 200
* @decimal 2
*/
PARAM_DEFINE_FLOAT(LPE_GPS_Z, 10.0f);
PARAM_DEFINE_FLOAT(LPE_GPS_Z, 100.0f);
/**
* GPS xy velocity standard deviation.
@@ -237,43 +250,43 @@ PARAM_DEFINE_INT32(LPE_NO_VISION, 0);
PARAM_DEFINE_FLOAT(LPE_VIC_P, 0.05f);
/**
* Position propagation process noise power (variance*sampling rate).
* Position propagation noise density
*
* @group Local Position Estimator
* @unit (m/s/s)-s
* @unit m/s/sqrt(Hz)
* @min 0
* @max 1
* @decimal 8
*/
PARAM_DEFINE_FLOAT(LPE_PN_P, 0.0f);
PARAM_DEFINE_FLOAT(LPE_PN_P, 0.1f);
/**
* Velocity propagation process noise power (variance*sampling rate).
* Velocity propagation noise density
*
* @group Local Position Estimator
* @unit (m/s)-s
* @min 0
* @max 5
* @decimal 8
*/
PARAM_DEFINE_FLOAT(LPE_PN_V, 0.0f);
/**
* Accel bias propagation process noise power (variance*sampling rate).
*
* @group Local Position Estimator
* @unit (m/s)-s
* @unit (m/s)/s/sqrt(Hz)
* @min 0
* @max 1
* @decimal 8
*/
PARAM_DEFINE_FLOAT(LPE_PN_B, 1e-8f);
PARAM_DEFINE_FLOAT(LPE_PN_V, 0.1f);
/**
* Terrain random walk noise power (variance*sampling rate).
* Accel bias propagation noise density
*
* @group Local Position Estimator
* @unit m-s
* @unit (m/s^2)/s/sqrt(Hz)
* @min 0
* @max 1
* @decimal 8
*/
PARAM_DEFINE_FLOAT(LPE_PN_B, 1e-3f);
/**
* Terrain random walk noise density
*
* @group Local Position Estimator
* @unit m/s/sqrt(Hz)
* @min 0
* @max 1
* @decimal 3