zrzk
/
zr-v4
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity
Browse Source

AP_NavEKF2: update tuning defaults

master
Paul Riseborough 9 years ago committed by Andrew Tridgell
parent
65f63341d7
commit
a3b78e6231
2 changed files with 38 additions and 38 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. 74
      libraries/AP_NavEKF2/AP_NavEKF2.cpp
  2. 2
      libraries/AP_NavEKF2/AP_NavEKF2_core.cpp

74
libraries/AP_NavEKF2/AP_NavEKF2.cpp
Unescape View File

@ -18,23 +18,23 @@ @@ -18,23 +18,23 @@
#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 ALT_NOISE_DEFAULT 3.0f
#define MAG_NOISE_DEFAULT 0.05f
#define GYRO_PNOISE_DEFAULT 0.001f
#define ACC_PNOISE_DEFAULT 0.25f
#define GBIAS_PNOISE_DEFAULT 7.0E-05f
#define ABIAS_PNOISE_DEFAULT 1.0E-04f
#define GYRO_PNOISE_DEFAULT 3.0E-02f
#define ACC_PNOISE_DEFAULT 6.0E-01f
#define GBIAS_PNOISE_DEFAULT 1.0E-04f
#define GSCALE_PNOISE_DEFAULT 1.0E-05f
#define ABIAS_PNOISE_DEFAULT 1.0E-03f
#define MAG_PNOISE_DEFAULT 2.5E-02f
#define VEL_GATE_DEFAULT 200
#define POS_GATE_DEFAULT 300
#define HGT_GATE_DEFAULT 300
#define VEL_GATE_DEFAULT 500
#define POS_GATE_DEFAULT 500
#define HGT_GATE_DEFAULT 500
#define MAG_GATE_DEFAULT 300
#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 300
#define GSCALE_PNOISE_DEFAULT 3.0E-03f
#define CHECK_SCALER_DEFAULT 100
#elif APM_BUILD_TYPE(APM_BUILD_APMrover2)
@ -42,23 +42,23 @@ @@ -42,23 +42,23 @@
#define VELNE_NOISE_DEFAULT 0.5f
#define VELD_NOISE_DEFAULT 0.7f
#define POSNE_NOISE_DEFAULT 1.0f
#define ALT_NOISE_DEFAULT 2.0f
#define ALT_NOISE_DEFAULT 3.0f
#define MAG_NOISE_DEFAULT 0.05f
#define GYRO_PNOISE_DEFAULT 0.001f
#define ACC_PNOISE_DEFAULT 0.25f
#define GBIAS_PNOISE_DEFAULT 7.0E-05f
#define ABIAS_PNOISE_DEFAULT 1.0E-04f
#define GYRO_PNOISE_DEFAULT 3.0E-02f
#define ACC_PNOISE_DEFAULT 6.0E-01f
#define GBIAS_PNOISE_DEFAULT 1.0E-04f
#define GSCALE_PNOISE_DEFAULT 1.0E-05f
#define ABIAS_PNOISE_DEFAULT 1.0E-03f
#define MAG_PNOISE_DEFAULT 2.5E-02f
#define VEL_GATE_DEFAULT 200
#define POS_GATE_DEFAULT 300
#define HGT_GATE_DEFAULT 300
#define VEL_GATE_DEFAULT 500
#define POS_GATE_DEFAULT 500
#define HGT_GATE_DEFAULT 500
#define MAG_GATE_DEFAULT 300
#define MAG_CAL_DEFAULT 2
#define GLITCH_RADIUS_DEFAULT 25
#define FLOW_MEAS_DELAY 10
#define FLOW_NOISE_DEFAULT 0.25f
#define FLOW_GATE_DEFAULT 300
#define GSCALE_PNOISE_DEFAULT 3.0E-03f
#define CHECK_SCALER_DEFAULT 100
#elif APM_BUILD_TYPE(APM_BUILD_ArduPlane)
@ -66,23 +66,23 @@ @@ -66,23 +66,23 @@
#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 ALT_NOISE_DEFAULT 3.0f
#define MAG_NOISE_DEFAULT 0.05f
#define GYRO_PNOISE_DEFAULT 0.001f
#define ACC_PNOISE_DEFAULT 0.25f
#define GBIAS_PNOISE_DEFAULT 7.0E-05f
#define ABIAS_PNOISE_DEFAULT 1.0E-04f
#define GYRO_PNOISE_DEFAULT 3.0E-02f
#define ACC_PNOISE_DEFAULT 6.0E-01f
#define GBIAS_PNOISE_DEFAULT 1.0E-04f
#define GSCALE_PNOISE_DEFAULT 1.0E-05f
#define ABIAS_PNOISE_DEFAULT 1.0E-03f
#define MAG_PNOISE_DEFAULT 2.5E-02f
#define VEL_GATE_DEFAULT 200
#define POS_GATE_DEFAULT 300
#define HGT_GATE_DEFAULT 400
#define MAG_GATE_DEFAULT 200
#define VEL_GATE_DEFAULT 500
#define POS_GATE_DEFAULT 500
#define HGT_GATE_DEFAULT 500
#define MAG_GATE_DEFAULT 300
#define MAG_CAL_DEFAULT 0
#define GLITCH_RADIUS_DEFAULT 25
#define FLOW_MEAS_DELAY 10
#define FLOW_NOISE_DEFAULT 0.25f
#define FLOW_GATE_DEFAULT 300
#define GSCALE_PNOISE_DEFAULT 3.0E-03f
#define CHECK_SCALER_DEFAULT 150
#else
@ -90,23 +90,23 @@ @@ -90,23 +90,23 @@
#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 ALT_NOISE_DEFAULT 3.0f
#define MAG_NOISE_DEFAULT 0.05f
#define GYRO_PNOISE_DEFAULT 0.001f
#define ACC_PNOISE_DEFAULT 0.25f
#define GBIAS_PNOISE_DEFAULT 3.5E-05f
#define ABIAS_PNOISE_DEFAULT 1.0E-04f
#define GYRO_PNOISE_DEFAULT 3.0E-02f
#define ACC_PNOISE_DEFAULT 6.0E-01f
#define GBIAS_PNOISE_DEFAULT 1.0E-04f
#define GSCALE_PNOISE_DEFAULT 1.0E-05f
#define ABIAS_PNOISE_DEFAULT 1.0E-03f
#define MAG_PNOISE_DEFAULT 2.5E-02f
#define VEL_GATE_DEFAULT 200
#define POS_GATE_DEFAULT 300
#define HGT_GATE_DEFAULT 300
#define VEL_GATE_DEFAULT 500
#define POS_GATE_DEFAULT 500
#define HGT_GATE_DEFAULT 500
#define MAG_GATE_DEFAULT 300
#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 300
#define GSCALE_PNOISE_DEFAULT 3.0E-03f
#define CHECK_SCALER_DEFAULT 100
#endif // APM_BUILD_DIRECTORY

2
libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
Unescape View File

@ -708,7 +708,7 @@ void NavEKF2_core::CovariancePrediction() @@ -708,7 +708,7 @@ void NavEKF2_core::CovariancePrediction()
dvz_b = stateStruct.accel_zbias;
float _gyrNoise = constrain_float(frontend->_gyrNoise, 0.0f, 1.0f);
daxNoise = dayNoise = dazNoise = sq(dt*_gyrNoise);
float _accNoise = constrain_float(frontend->_accNoise, 0.0f, 1.0f);
float _accNoise = constrain_float(frontend->_accNoise, 0.0f, 10.0f);
dvxNoise = dvyNoise = dvzNoise = sq(dt*_accNoise);
// calculate the predicted covariance due to inertial sensor error propagation

Write Preview
Loading…
Cancel
Save