zrzk
/
ardupilot
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

AP_NavEKF3: Retune IMU process noise 

Required to achieve equivalent fusion noise and weighting on IMU vs other sources to previous param defaults with the old covariance prediction equations.
zr-v5.1
Paul Riseborough 4 years ago committed by Randy Mackay
parent
8db073a8d6
commit
a24df9d633
1 changed files with 12 additions and 12 deletions
Whitespace
Show all changes Ignore whitespace when comparing lines Ignore changes in amount of whitespace Ignore changes in whitespace at EOL
Split View
Diff Options
Show Stats Download Patch File Download Diff File
  1. 24
      libraries/AP_NavEKF3/AP_NavEKF3.cpp

24
libraries/AP_NavEKF3/AP_NavEKF3.cpp
Unescape View File

@ -22,10 +22,10 @@ @@ -22,10 +22,10 @@
#define POSNE_M_NSE_DEFAULT 0.5f
#define ALT_M_NSE_DEFAULT 2.0f
#define MAG_M_NSE_DEFAULT 0.05f
#define GYRO_P_NSE_DEFAULT 1.5E-02f
#define ACC_P_NSE_DEFAULT 3.5E-01f
#define GYRO_P_NSE_DEFAULT 1.0E-02f
#define ACC_P_NSE_DEFAULT 2.5E-01f
#define GBIAS_P_NSE_DEFAULT 1.0E-04f
#define ABIAS_P_NSE_DEFAULT 3.0E-03f
#define ABIAS_P_NSE_DEFAULT 1.0E-03f
#define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f
#define VEL_I_GATE_DEFAULT 500
@ -48,10 +48,10 @@ @@ -48,10 +48,10 @@
#define POSNE_M_NSE_DEFAULT 0.5f
#define ALT_M_NSE_DEFAULT 2.0f
#define MAG_M_NSE_DEFAULT 0.05f
#define GYRO_P_NSE_DEFAULT 1.5E-02f
#define ACC_P_NSE_DEFAULT 3.5E-01f
#define GYRO_P_NSE_DEFAULT 1.0E-02f
#define ACC_P_NSE_DEFAULT 2.5E-01f
#define GBIAS_P_NSE_DEFAULT 1.0E-04f
#define ABIAS_P_NSE_DEFAULT 3.0E-03f
#define ABIAS_P_NSE_DEFAULT 1.0E-03f
#define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f
#define VEL_I_GATE_DEFAULT 500
@ -74,10 +74,10 @@ @@ -74,10 +74,10 @@
#define POSNE_M_NSE_DEFAULT 0.5f
#define ALT_M_NSE_DEFAULT 3.0f
#define MAG_M_NSE_DEFAULT 0.05f
#define GYRO_P_NSE_DEFAULT 1.5E-02f
#define ACC_P_NSE_DEFAULT 3.5E-01f
#define GYRO_P_NSE_DEFAULT 1.0E-02f
#define ACC_P_NSE_DEFAULT 2.5E-01f
#define GBIAS_P_NSE_DEFAULT 1.0E-04f
#define ABIAS_P_NSE_DEFAULT 3.0E-03f
#define ABIAS_P_NSE_DEFAULT 1.0E-03f
#define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f
#define VEL_I_GATE_DEFAULT 500
@ -100,10 +100,10 @@ @@ -100,10 +100,10 @@
#define POSNE_M_NSE_DEFAULT 0.5f
#define ALT_M_NSE_DEFAULT 2.0f
#define MAG_M_NSE_DEFAULT 0.05f
#define GYRO_P_NSE_DEFAULT 1.5E-02f
#define ACC_P_NSE_DEFAULT 3.5E-01f
#define GYRO_P_NSE_DEFAULT 1.0E-02f
#define ACC_P_NSE_DEFAULT 2.5E-01f
#define GBIAS_P_NSE_DEFAULT 1.0E-04f
#define ABIAS_P_NSE_DEFAULT 3.0E-03f
#define ABIAS_P_NSE_DEFAULT 1.0E-03f
#define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f
#define VEL_I_GATE_DEFAULT 500

Write Preview
Loading…
Cancel
Save