From b5a410e9d277ebc4eebb201cfd92eac8e1dd01fd Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Sun, 30 Aug 2015 19:36:51 +0200 Subject: [PATCH] EKF: Set better default gains --- .../ekf_att_pos_estimator/ekf_att_pos_estimator_params.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c index f496f9ed96..943365e499 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c @@ -214,23 +214,23 @@ PARAM_DEFINE_FLOAT(PE_ACC_PNOISE, 0.25f); * Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. * Increasing this value will make the gyro bias converge faster but noisier. * - * @min 0.0000001 + * @min 0.00000005 * @max 0.00001 * @group Position Estimator */ -PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-06f); +PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f); /** * Accelerometer bias estimate process noise * - * Generic defaults: 0.0001f, multicopters: 0.0001f, ground vehicles: 0.0001f. + * Generic defaults: 0.00001f, multicopters: 0.00001f, ground vehicles: 0.00001f. * Increasing this value makes the bias estimation faster and noisier. * * @min 0.00001 * @max 0.001 * @group Position Estimator */ -PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 0.0002f); +PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 1e-05f); /** * Magnetometer earth frame offsets process noise