From be69887b7e1c9543b8bcceb45d8c5f40fe4d759c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 26 Jun 2015 19:50:49 +0200 Subject: [PATCH 1/4] EKF: Improved down gains from @boosfelm and @surberj --- .../ekf_att_pos_estimator/ekf_att_pos_estimator_params.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c index f8cca6c0dd..4702ec6cdb 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c @@ -141,13 +141,13 @@ PARAM_DEFINE_FLOAT(PE_VELNE_NOISE, 0.3f); /** * Velocity noise in down (vertical) direction * - * Generic default: 0.5, multicopters: 0.7, ground vehicles: 0.7 + * Generic default: 0.3, multicopters: 0.4, ground vehicles: 0.7 * * @min 0.05 * @max 5.0 * @group Position Estimator */ -PARAM_DEFINE_FLOAT(PE_VELD_NOISE, 0.5f); +PARAM_DEFINE_FLOAT(PE_VELD_NOISE, 0.3f); /** * Position noise in north-east (horizontal) direction @@ -163,13 +163,13 @@ PARAM_DEFINE_FLOAT(PE_POSNE_NOISE, 0.5f); /** * Position noise in down (vertical) direction * - * Generic defaults: 0.5, multicopters: 1.0, ground vehicles: 1.0 + * Generic defaults: 1.25, multicopters: 1.0, ground vehicles: 1.0 * * @min 0.1 * @max 10.0 * @group Position Estimator */ -PARAM_DEFINE_FLOAT(PE_POSD_NOISE, 0.5f); +PARAM_DEFINE_FLOAT(PE_POSD_NOISE, 1.25f); /** * Magnetometer measurement noise From 4d4f3cffefcf18a525c1e8013906d08d0039e416 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 27 Jun 2015 11:13:05 +0200 Subject: [PATCH 2/4] Update FW EKF default params --- ROMFS/px4fmu_common/init.d/rc.fw_defaults | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rc.fw_defaults b/ROMFS/px4fmu_common/init.d/rc.fw_defaults index 156711c26d..b718f421f5 100644 --- a/ROMFS/px4fmu_common/init.d/rc.fw_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.fw_defaults @@ -17,9 +17,9 @@ then param set FW_T_TIME_CONST 5 param set PE_VELNE_NOISE 0.3 - param set PE_VELD_NOISE 0.5 + param set PE_VELD_NOISE 0.35 param set PE_POSNE_NOISE 0.5 - param set PE_POSD_NOISE 0.5 + param set PE_POSD_NOISE 1.0 param set PE_GBIAS_PNOISE 0.000001 param set PE_ABIAS_PNOISE 0.0002 fi From 4c70fadb38c880821e6f2af11ac36eeed989e721 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 27 Jun 2015 11:13:18 +0200 Subject: [PATCH 3/4] Update MC EKF default params --- ROMFS/px4fmu_common/init.d/rc.mc_defaults | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rc.mc_defaults b/ROMFS/px4fmu_common/init.d/rc.mc_defaults index fa3653e0d5..a5c326ebc6 100644 --- a/ROMFS/px4fmu_common/init.d/rc.mc_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.mc_defaults @@ -5,9 +5,9 @@ set VEHICLE_TYPE mc if [ $AUTOCNF == yes ] then param set PE_VELNE_NOISE 0.5 - param set PE_VELD_NOISE 0.7 + param set PE_VELD_NOISE 0.35 param set PE_POSNE_NOISE 0.5 - param set PE_POSD_NOISE 1.0 + param set PE_POSD_NOISE 1.25 param set PE_GBIAS_PNOISE 0.000001 param set PE_ABIAS_PNOISE 0.0001 From cf4778b662de34f829269d06c9339cc1859bf930 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sat, 27 Jun 2015 11:13:37 +0200 Subject: [PATCH 4/4] Update VTOL EKF default params --- ROMFS/px4fmu_common/init.d/rc.vtol_defaults | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults index 844d540bf0..c2340a7b16 100644 --- a/ROMFS/px4fmu_common/init.d/rc.vtol_defaults +++ b/ROMFS/px4fmu_common/init.d/rc.vtol_defaults @@ -34,9 +34,9 @@ then param set FW_RR_P 0.02 param set PE_VELNE_NOISE 0.5 - param set PE_VELD_NOISE 0.7 + param set PE_VELD_NOISE 0.3 param set PE_POSNE_NOISE 0.5 - param set PE_POSD_NOISE 1.0 + param set PE_POSD_NOISE 1.25 param set PE_GBIAS_PNOISE 0.000001 param set PE_ABIAS_PNOISE 0.0001 fi