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EKF: update tuning defaults

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This commit is contained in:
Paul Riseborough
2016-05-05 21:23:03 +10:00
parent 7a74d58591
commit ecaffe63af
1 changed files with 2 additions and 2 deletions
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EKF/common.h
+2 -2
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@@ -234,7 +234,7 @@ struct parameters {
parameters() parameters()
{ {
// measurement source control // measurement source control
fusion_mode = MASK_USE_GPS; fusion_mode = MASK_USE_GPS + MASK_USE_3D_ACC_BIAS;
vdist_sensor_type = VDIST_SENSOR_BARO; vdist_sensor_type = VDIST_SENSOR_BARO;
// measurement time delays // measurement time delays
@@ -251,7 +251,7 @@ struct parameters {
// process noise // process noise
gyro_bias_p_noise = 1.0e-3f; gyro_bias_p_noise = 1.0e-3f;
accel_bias_p_noise = 1.0e-5f; accel_bias_p_noise = 1.0e-3f;
mage_p_noise = 1.0e-3f; mage_p_noise = 1.0e-3f;
magb_p_noise = 1.0e-4f; magb_p_noise = 1.0e-4f;
wind_vel_p_noise = 1.0e-1f; wind_vel_p_noise = 1.0e-1f;