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LPE flow improvements.

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This commit is contained in:
James Goppert
2016-10-12 23:05:53 -05:00
committed by James Goppert
parent db44129ec0
commit cf658638f4
5 changed files with 52 additions and 52 deletions
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src/modules/local_position_estimator/params.c
+14 -36
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@@ -21,6 +21,17 @@ PARAM_DEFINE_FLOAT(LPE_PUB_AGL_Z, 0);
*/
PARAM_DEFINE_FLOAT(LPE_FLW_OFF_Z, 0.0f);
/**
* Optical flow scale
*
* @group Local Position Estimator
* @unit m
* @min 0.1
* @max 10.0
* @decimal 3
*/
PARAM_DEFINE_FLOAT(LPE_FLW_SCALE, 1.3f);
/**
* Optical flow gyro compensation
*
@@ -32,39 +43,6 @@ PARAM_DEFINE_FLOAT(LPE_FLW_OFF_Z, 0.0f);
*/
PARAM_DEFINE_INT32(LPE_FLW_GYRO_CMP, 1);
/**
* Optical flow xy velocity standard deviation.
*
* @group Local Position Estimator
* @unit m
* @min 0.01
* @max 1
* @decimal 3
*/
PARAM_DEFINE_FLOAT(LPE_FLW_VXY, 0.04f);
/**
* Optical flow xy velocity standard deviation linear factor on distance
*
* @group Local Position Estimator
* @unit m / m
* @min 0.01
* @max 1
* @decimal 3
*/
PARAM_DEFINE_FLOAT(LPE_FLW_VXY_D, 0.04f);
/**
* Optical flow xy velocity standard deviation linear factor on rotation rate
*
* @group Local Position Estimator
* @unit m / m
* @min 0.01
* @max 1
* @decimal 3
*/
PARAM_DEFINE_FLOAT(LPE_FLW_VXY_R, 1.0f);
/**
* Optical flow minimum quality threshold
*
@@ -132,7 +110,7 @@ PARAM_DEFINE_FLOAT(LPE_LDR_OFF_Z, 0.00f);
* @max 2
* @decimal 4
*/
PARAM_DEFINE_FLOAT(LPE_ACC_XY, 0.0015f);
PARAM_DEFINE_FLOAT(LPE_ACC_XY, 0.012f);
/**
* Accelerometer z noise density
@@ -145,7 +123,7 @@ PARAM_DEFINE_FLOAT(LPE_ACC_XY, 0.0015f);
* @max 2
* @decimal 4
*/
PARAM_DEFINE_FLOAT(LPE_ACC_Z, 0.0015f);
PARAM_DEFINE_FLOAT(LPE_ACC_Z, 0.02f);
/**
* Barometric presssure altitude z standard deviation.
@@ -412,7 +390,7 @@ PARAM_DEFINE_FLOAT(LPE_X_LP, 5.0f);
* @max 1.0
* @decimal 3
*/
PARAM_DEFINE_FLOAT(LPE_VXY_PUB, 0.1f);
PARAM_DEFINE_FLOAT(LPE_VXY_PUB, 0.3f);
/**
* Required z standard deviation to publish altitude/ terrain