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Merge pull request #2478 from PX4/ekf_gains

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EKF gains
This commit is contained in:
Lorenz Meier
2015-06-29 09:11:22 +02:00
parent b72ac1428c cf4778b662
commit e6688287cc
4 changed files with 10 additions and 10 deletions
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src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c
+4 -4
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@@ -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