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EKF: update default tuning parameters

master
Paul Riseborough 9 years ago
parent
f01f4ae4b1
commit
799865c934
1 changed files with 4 additions and 4 deletions
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  1. 8
      EKF/common.h

8
EKF/common.h
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@ -246,13 +246,13 @@ struct parameters {
range_delay_ms = 5.0f; range_delay_ms = 5.0f;
// input noise // input noise
gyro_noise = 5.0e-2f; gyro_noise = 2.0e-2f;
accel_noise = 2.5e-1f; accel_noise = 2.5e-1f;
// process noise // process noise
gyro_bias_p_noise = 5.0e-5f; gyro_bias_p_noise = 5.0e-6f;
accel_bias_p_noise = 1.0e-7f; accel_bias_p_noise = 1.0e-7f;
mage_p_noise = 2.5e-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;
terrain_p_noise = 5.0f; terrain_p_noise = 5.0f;
@ -274,7 +274,7 @@ struct parameters {
mag_declination_deg = 0.0f; mag_declination_deg = 0.0f;
heading_innov_gate = 2.6f; heading_innov_gate = 2.6f;
mag_innov_gate = 3.0f; mag_innov_gate = 3.0f;
mag_declination_source = 3; mag_declination_source = 7;
mag_fusion_type = 0; mag_fusion_type = 0;
// airspeed fusion // airspeed fusion

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