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geo std pressure constants and update usage

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Daniel Agar
2018-04-19 08:57:38 +02:00
committed by Lorenz Meier
parent 02e319431b
commit bd72f3c521
6 changed files with 80 additions and 89 deletions
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EKF/common.h
+1 -1
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@@ -228,7 +228,7 @@ struct parameters {
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 mage_p_noise{1.0e-3f}; ///< process noise for earth magnetic field prediction (Gauss/sec)
float magb_p_noise{1.0e-4}; ///< 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 terrain_p_noise{5.0f}; ///< process noise for terrain offset (m/sec)
float terrain_gradient{0.5f}; ///< gradient of terrain used to estimate process noise due to changing position (m/m)