From dec686afd7935bc30d3ec6b7851d0b31cd6cecce Mon Sep 17 00:00:00 2001 From: CarlOlsson Date: Mon, 25 Jul 2016 22:07:01 +0200 Subject: [PATCH] updated parameters --- EKF/common.h | 6 +++--- EKF/control.cpp | 3 ++- 2 files changed, 5 insertions(+), 4 deletions(-) diff --git a/EKF/common.h b/EKF/common.h index 22967dad10..37aa9f843b 100644 --- a/EKF/common.h +++ b/EKF/common.h @@ -227,7 +227,7 @@ struct parameters { // synthetic sideslip fusion float beta_innov_gate; // synthetic sideslip innovation consistency gate size in standard deviation (STD) float beta_noise; // synthetic sideslip noise (rad) - float beta_avg_ft_ms; // The average time between synthetic sideslip measurements (msec) + float beta_avg_ft_us; // The average time between synthetic sideslip measurements (usec) // range finder fusion float range_noise; // observation noise for range finder measurements (m) @@ -328,8 +328,8 @@ struct parameters { // sysntetic sideslip fusion beta_innov_gate = 5.0f; - beta_noise = 0.03f; - beta_avg_ft_ms = 100.0f; + beta_noise = 0.5f; + beta_avg_ft_us = 1000000.0f; //1 Hz // range finder fusion range_noise = 0.1f; diff --git a/EKF/control.cpp b/EKF/control.cpp index cbeb4e654b..a454bcd0a5 100644 --- a/EKF/control.cpp +++ b/EKF/control.cpp @@ -774,7 +774,8 @@ void Ekf::controlAirDataFusion() void Ekf::controlBetaFusion() { - bool beta_fusion_time_triggered = _time_last_imu - _time_last_beta_fuse > _params.beta_avg_ft_ms; + bool beta_fusion_time_triggered = _time_last_imu - _time_last_beta_fuse > _params.beta_avg_ft_us; + if(beta_fusion_time_triggered && _control_status.flags.fuse_beta && _control_status.flags.in_air){ fuseSideslip(); }