From 2ebce110b7acdaaf16f20bee7a6de3abe205480e Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Fri, 30 Oct 2015 21:57:30 +1100 Subject: [PATCH] AP_NavEKF2: Explicitly define plane build type for default parameters Use Copter parameters if build type is unknown --- libraries/AP_NavEKF2/AP_NavEKF2.cpp | 27 +++++++++++++++++++++++++-- 1 file changed, 25 insertions(+), 2 deletions(-) diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp index 31171f86ce..bb583b294f 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp @@ -59,8 +59,8 @@ #define FLOW_GATE_DEFAULT 3 #define GSCALE_PNOISE_DEFAULT 3.0E-03f -#else -// generic defaults (and for plane) +#elif APM_BUILD_TYPE(APM_BUILD_ArduPlane) +// plane defaults #define VELNE_NOISE_DEFAULT 0.5f #define VELD_NOISE_DEFAULT 0.7f #define POSNE_NOISE_DEFAULT 1.0f @@ -82,6 +82,29 @@ #define FLOW_GATE_DEFAULT 3 #define GSCALE_PNOISE_DEFAULT 3.0E-03f +#else +// build type not specified, use copter defaults +#define VELNE_NOISE_DEFAULT 0.5f +#define VELD_NOISE_DEFAULT 0.7f +#define POSNE_NOISE_DEFAULT 1.0f +#define ALT_NOISE_DEFAULT 5.0f +#define MAG_NOISE_DEFAULT 0.05f +#define GYRO_PNOISE_DEFAULT 0.005f +#define ACC_PNOISE_DEFAULT 0.25f +#define GBIAS_PNOISE_DEFAULT 7.0E-05f +#define ABIAS_PNOISE_DEFAULT 1.0E-04f +#define MAG_PNOISE_DEFAULT 2.5E-02f +#define VEL_GATE_DEFAULT 3 +#define POS_GATE_DEFAULT 3 +#define HGT_GATE_DEFAULT 3 +#define MAG_GATE_DEFAULT 3 +#define MAG_CAL_DEFAULT 3 +#define GLITCH_RADIUS_DEFAULT 25 +#define FLOW_MEAS_DELAY 10 +#define FLOW_NOISE_DEFAULT 0.25f +#define FLOW_GATE_DEFAULT 3 +#define GSCALE_PNOISE_DEFAULT 3.0E-03f + #endif // APM_BUILD_DIRECTORY // Define tuning parameters