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ekf2: incorporate fixes to covariance prediction and initialisation

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Update ecl library reference.
Update default parameters
This commit is contained in:
Paul Riseborough
2016-04-05 19:08:39 -07:00
committed by Lorenz Meier
parent 222566de6e
commit e66a3bd99f
3 changed files with 28 additions and 16 deletions
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src/modules/ekf2/ekf2_params.c
+23 -13
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@@ -174,10 +174,10 @@ PARAM_DEFINE_FLOAT(EKF2_REQ_VDRIFT, 0.5f);
*
* @group EKF2
* @min 0.0001
* @max 0.01
* @max 0.1
* @unit rad/s
*/
PARAM_DEFINE_FLOAT(EKF2_GYR_NOISE, 1.0e-3f);
PARAM_DEFINE_FLOAT(EKF2_GYR_NOISE, 6.0e-2f);
/**
* Accelerometer noise for covariance prediction.
@@ -197,7 +197,7 @@ PARAM_DEFINE_FLOAT(EKF2_ACC_NOISE, 0.25f);
* @max 0.0001
* @unit rad/s
*/
PARAM_DEFINE_FLOAT(EKF2_GYR_B_NOISE, 7.0e-5f);
PARAM_DEFINE_FLOAT(EKF2_GYR_B_NOISE, 2.5e-6f);
/**
* Process noise for delta velocity z bias prediction.
@@ -207,7 +207,7 @@ PARAM_DEFINE_FLOAT(EKF2_GYR_B_NOISE, 7.0e-5f);
* @max 0.01
* @unit m/s/s
*/
PARAM_DEFINE_FLOAT(EKF2_ACC_B_NOISE, 1.0e-4f);
PARAM_DEFINE_FLOAT(EKF2_ACC_B_NOISE, 3.0e-5f);
/**
* Process noise for delta angle scale factor prediction.
@@ -216,17 +216,27 @@ PARAM_DEFINE_FLOAT(EKF2_ACC_B_NOISE, 1.0e-4f);
* @min 0.0
* @max 0.01
*/
PARAM_DEFINE_FLOAT(EKF2_GYR_S_NOISE, 3.0e-3f);
PARAM_DEFINE_FLOAT(EKF2_GYR_S_NOISE, 3.0e-4f);
/**
* Process noise for sensor bias and earth magnetic field prediction.
* Process noise for body magnetic field prediction.
*
* @group EKF2
* @min 0.0
* @max 0.1
* @unit Gauss/s
*/
PARAM_DEFINE_FLOAT(EKF2_MAG_B_NOISE, 2.5e-2f);
PARAM_DEFINE_FLOAT(EKF2_MAG_B_NOISE, 5.0e-4f);
/**
* Process noise for earth magnetic field prediction.
*
* @group EKF2
* @min 0.0
* @max 0.1
* @unit Gauss/s
*/
PARAM_DEFINE_FLOAT(EKF2_MAG_E_NOISE, 2.5e-3f);
/**
* Process noise for wind velocity prediction.
@@ -256,7 +266,7 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_V_NOISE, 0.5f);
* @max 10.0
* @unit m
*/
PARAM_DEFINE_FLOAT(EKF2_GPS_P_NOISE, 1.0f);
PARAM_DEFINE_FLOAT(EKF2_GPS_P_NOISE, 0.5f);
/**
* Measurement noise for non-aiding position hold.
@@ -286,7 +296,7 @@ PARAM_DEFINE_FLOAT(EKF2_BARO_NOISE, 3.0f);
* @max 1.0
* @unit rad
*/
PARAM_DEFINE_FLOAT(EKF2_HEAD_NOISE, 0.17f);
PARAM_DEFINE_FLOAT(EKF2_HEAD_NOISE, 0.3f);
/**
* Measurement noise for magnetometer 3-axis fusion.
@@ -323,7 +333,7 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_DECL, 0);
* @min 1.0
* @unit SD
*/
PARAM_DEFINE_FLOAT(EKF2_HDG_GATE, 3.0f);
PARAM_DEFINE_FLOAT(EKF2_HDG_GATE, 2.6f);
/**
* Gate size for magnetometer XYZ component fusion
@@ -370,7 +380,7 @@ PARAM_DEFINE_INT32(EKF2_MAG_TYPE, 0);
* @min 1.0
* @unit SD
*/
PARAM_DEFINE_FLOAT(EKF2_BARO_GATE, 3.0f);
PARAM_DEFINE_FLOAT(EKF2_BARO_GATE, 5.0f);
/**
* Gate size for GPS horizontal position fusion
@@ -379,7 +389,7 @@ PARAM_DEFINE_FLOAT(EKF2_BARO_GATE, 3.0f);
* @min 1.0
* @unit SD
*/
PARAM_DEFINE_FLOAT(EKF2_GPS_P_GATE, 3.0f);
PARAM_DEFINE_FLOAT(EKF2_GPS_P_GATE, 5.0f);
/**
* Gate size for GPS velocity fusion
@@ -388,7 +398,7 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_P_GATE, 3.0f);
* @min 1.0
* @unit SD
*/
PARAM_DEFINE_FLOAT(EKF2_GPS_V_GATE, 3.0f);
PARAM_DEFINE_FLOAT(EKF2_GPS_V_GATE, 5.0f);
/**
* Replay mode