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AP_NavEKF: comment and parameter tweaks for ground testing

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Paul Riseborough 2014-01-05 22:36:17 +11:00 committed by Andrew Tridgell
parent b6b0c2a489
commit 0d4d287215
1 changed files with 6 additions and 6 deletions
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12
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -27,7 +27,7 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) :
_baro(baro),
useAirspeed(true),
useCompass(true),
fusionModeGPS(0), // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs, no velocity
fusionModeGPS(1), // 0 = use 3D velocity, 1 = use 2D velocity, 2 = use no velocity
covTimeStepMax(0.07f), // maximum time (sec) between covariance prediction updates
covDelAngMax(0.05f), // maximum delta angle between covariance prediction updates
yawVarScale(1.0f), // scale factor applied to yaw gyro errors when on ground
@ -50,10 +50,10 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) :
#endif
{
// Tuning parameters
_gpsHorizVelNoise = 0.3f; // GPS horizontal velocity noise : m/s
_gpsVertVelNoise = 0.3f; // GPS vertical velocity noise : m/s
_gpsHorizPosNoise = 2.0f; // GPS horizontal position noise m
_gpsVertPosNoise = 1.0f; // GPS or Baro vertical position variance : m^2
_gpsHorizVelNoise = 0.3f; // GPS horizontal velocity noise : m/s
_gpsVertVelNoise = 0.3f; // GPS vertical velocity noise : m/s
_gpsHorizPosNoise = 2.0f; // GPS horizontal position noise m
_gpsVertPosNoise = 2.0f; // GPS or Baro vertical position noise : m
_gpsVelVarAccScale = 0.2f; // scale factor applied to velocity variance due to Vdot
_gpsPosVarAccScale = 0.2f; // scale factor applied to position variance due to Vdot
_magNoise = 0.05f; // magnetometer measurement noise : gauss
@ -65,7 +65,7 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) :
_accNoise = 0.5f; // accelerometer process noise : m/s^2
_dAngBiasNoise = 5.0e-7f; // gyro bias state noise : rad/s^2
_magEarthNoise = 3.0e-4f; // earth magnetic field process noise : gauss/sec
_magBodyNoise = 3.0e-4f; // earth magnetic field process noise : gauss/sec
_magBodyNoise = 3.0e-4f; // body magnetic field process noise : gauss/sec
// Misc initial conditions
hgtRate = 0.0f;