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wind_estimator: use noise spectral density for process noise tuning

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The noise spectral density, NSD, (square root of power spectral density) is a
continuous-time parameter that makes the tuning independent from the EKF
prediction rate.
NSD corresponds to the rate at which the state uncertainty increases
when no measurements are fused into the filter.
Given that the current prediction rate of the wind estimator is 1Hz, the
same tuning is obtained with the same values as before.
This commit is contained in:
bresch
2022-06-14 18:39:10 +10:00
committed by Paul Riseborough
parent 377338109c
commit e105869986
6 changed files with 25 additions and 25 deletions
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src/modules/airspeed_selector/airspeed_selector_main.cpp
+6 -6
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@@ -165,8 +165,8 @@ private:
};
DEFINE_PARAMETERS(
(ParamFloat<px4::params::ASPD_W_P_NOISE>) _param_west_w_p_noise,
(ParamFloat<px4::params::ASPD_SC_P_NOISE>) _param_west_sc_p_noise,
(ParamFloat<px4::params::ASPD_WIND_NSD>) _param_aspd_wind_nsd,
(ParamFloat<px4::params::ASPD_SCALE_NSD>) _param_aspd_scale_nsd,
(ParamFloat<px4::params::ASPD_TAS_NOISE>) _param_west_tas_noise,
(ParamFloat<px4::params::ASPD_BETA_NOISE>) _param_west_beta_noise,
(ParamInt<px4::params::ASPD_TAS_GATE>) _param_west_tas_gate,
@@ -447,16 +447,16 @@ void AirspeedModule::update_params()
_param_airspeed_scale[1] = _param_airspeed_scale_2.get();
_param_airspeed_scale[2] = _param_airspeed_scale_3.get();
_wind_estimator_sideslip.set_wind_p_noise(_param_west_w_p_noise.get());
_wind_estimator_sideslip.set_tas_scale_p_noise(_param_west_sc_p_noise.get());
_wind_estimator_sideslip.set_wind_process_noise_spectral_density(_param_aspd_wind_nsd.get());
_wind_estimator_sideslip.set_tas_scale_process_noise_spectral_density(_param_aspd_scale_nsd.get());
_wind_estimator_sideslip.set_tas_noise(_param_west_tas_noise.get());
_wind_estimator_sideslip.set_beta_noise(_param_west_beta_noise.get());
_wind_estimator_sideslip.set_tas_gate(_param_west_tas_gate.get());
_wind_estimator_sideslip.set_beta_gate(_param_west_beta_gate.get());
for (int i = 0; i < MAX_NUM_AIRSPEED_SENSORS; i++) {
_airspeed_validator[i].set_wind_estimator_wind_p_noise(_param_west_w_p_noise.get());
_airspeed_validator[i].set_wind_estimator_tas_scale_p_noise(_param_west_sc_p_noise.get());
_airspeed_validator[i].set_wind_estimator_wind_process_noise_spectral_density(_param_aspd_wind_nsd.get());
_airspeed_validator[i].set_wind_estimator_tas_scale_process_noise_spectral_density(_param_aspd_scale_nsd.get());
_airspeed_validator[i].set_wind_estimator_tas_noise(_param_west_tas_noise.get());
_airspeed_validator[i].set_wind_estimator_beta_noise(_param_west_beta_noise.get());
_airspeed_validator[i].set_wind_estimator_tas_gate(_param_west_tas_gate.get());