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LPE vision estimation fixes. (#5505)

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This commit is contained in:
James Goppert
2016-10-01 09:02:12 -04:00
committed by GitHub
parent f6bed6f2d2
commit fe40e9cfae
10 changed files with 134 additions and 110 deletions
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src/modules/local_position_estimator/params.c
+42 -13
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@@ -2,6 +2,13 @@
// 16 is max name length
/**
* Publish AGL as Z
*
* @group Local Position Estimator
* @boolean
*/
PARAM_DEFINE_FLOAT(LPE_PUB_AGL_Z, 0);
/**
* Optical flow z offset from center
@@ -15,7 +22,18 @@
PARAM_DEFINE_FLOAT(LPE_FLW_OFF_Z, 0.0f);
/**
* Optical flow xy standard deviation.
* Optical flow gyro compensation
*
* @group Local Position Estimator
* @unit m
* @min -1
* @max 1
* @decimal 3
*/
PARAM_DEFINE_INT32(LPE_FLW_GYRO_CMP, 1);
/**
* Optical flow xy velocity standard deviation.
*
* @group Local Position Estimator
* @unit m
@@ -23,10 +41,10 @@ PARAM_DEFINE_FLOAT(LPE_FLW_OFF_Z, 0.0f);
* @max 1
* @decimal 3
*/
PARAM_DEFINE_FLOAT(LPE_FLW_XY, 0.01f);
PARAM_DEFINE_FLOAT(LPE_FLW_VXY, 0.04f);
/**
* Optical flow xy standard deviation linear factor on distance
* Optical flow xy velocity standard deviation linear factor on distance
*
* @group Local Position Estimator
* @unit m / m
@@ -34,7 +52,18 @@ PARAM_DEFINE_FLOAT(LPE_FLW_XY, 0.01f);
* @max 1
* @decimal 3
*/
PARAM_DEFINE_FLOAT(LPE_FLW_XY_D, 0.01f);
PARAM_DEFINE_FLOAT(LPE_FLW_VXY_D, 0.04f);
/**
* Optical flow xy velocity standard deviation linear factor on rotation rate
*
* @group Local Position Estimator
* @unit m / m
* @min 0.01
* @max 1
* @decimal 3
*/
PARAM_DEFINE_FLOAT(LPE_FLW_VXY_R, 1.0f);
/**
* Optical flow minimum quality threshold
@@ -44,7 +73,7 @@ PARAM_DEFINE_FLOAT(LPE_FLW_XY_D, 0.01f);
* @max 255
* @decimal 0
*/
PARAM_DEFINE_INT32(LPE_FLW_QMIN, 75);
PARAM_DEFINE_INT32(LPE_FLW_QMIN, 150);
/**
* Sonar z standard deviation.
@@ -225,7 +254,7 @@ PARAM_DEFINE_FLOAT(LPE_EPV_MAX, 5.0f);
* @max 1
* @decimal 3
*/
PARAM_DEFINE_FLOAT(LPE_VIS_XY, 0.5f);
PARAM_DEFINE_FLOAT(LPE_VIS_XY, 0.1f);
/**
* Vision z standard deviation.
@@ -328,7 +357,7 @@ PARAM_DEFINE_FLOAT(LPE_T_MAX_GRADE, 1.0f);
* @max 2
* @decimal 3
*/
PARAM_DEFINE_FLOAT(LPE_FGYRO_HP, 0.1f);
PARAM_DEFINE_FLOAT(LPE_FGYRO_HP, 0.001f);
/**
* Local origin latitude for nav w/o GPS
@@ -364,15 +393,15 @@ PARAM_DEFINE_FLOAT(LPE_LON, -86.929);
PARAM_DEFINE_FLOAT(LPE_X_LP, 5.0f);
/**
* Required xy standard deviation to publish position
* Required velocity xy standard deviation to publish position
*
* @group Local Position Estimator
* @unit m
* @min 0.3
* @max 5.0
* @decimal 1
* @unit m/s
* @min 0.01
* @max 1.0
* @decimal 3
*/
PARAM_DEFINE_FLOAT(LPE_XY_PUB, 1.0f);
PARAM_DEFINE_FLOAT(LPE_VXY_PUB, 0.1f);
/**
* Required z standard deviation to publish altitude/ terrain