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Copter: allow ch6 tuning of EKF

This commit is contained in:
Randy Mackay 2014-01-06 16:40:18 +09:00 committed by Andrew Tridgell
parent f068d0ff7e
commit 20989fd5e9
2 changed files with 16 additions and 4 deletions
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16
ArduCopter/ArduCopter.pde
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@ -1531,9 +1531,19 @@ static void tuning(){
g.sonar_gain.set(tuning_value);
break;
case CH6_LOIT_SPEED:
// set max loiter speed to 0 ~ 1000 cm/s
wp_nav.set_loiter_velocity(g.rc_6.control_in);
case CH6_EKF_VERTICAL_POS:
// EKF's baro vs accel (higher rely on accels more, baro impact is reduced)
ahrs.get_EKF()->_gpsVertPosNoise = tuning_value;
break;
case CH6_EKF_HORIZONTAL_POS:
// EKF's gps vs accel (higher rely on accels more, gps impact is reduced)
ahrs.get_EKF()->_gpsHorizPosNoise = tuning_value;
break;
case CH6_EKF_ACCEL_NOISE:
// EKF's accel noise (lower means trust accels more, gps & baro less)
ahrs.get_EKF()->_accNoise = tuning_value;
break;
}
}

4
ArduCopter/defines.h
View File

@ -145,7 +145,9 @@
#define CH6_DECLINATION 38 // compass declination in radians
#define CH6_CIRCLE_RATE 39 // circle turn rate in degrees (hard coded to about 45 degrees in either direction)
#define CH6_SONAR_GAIN 41 // sonar gain
#define CH6_LOIT_SPEED 42 // maximum speed during loiter (0 to 10m/s)
#define CH6_EKF_VERTICAL_POS 42 // EKF's baro vs accel (higher rely on accels more, baro impact is reduced). Range should be 0.2 ~ 4.0? 2.0 is default
#define CH6_EKF_HORIZONTAL_POS 43 // EKF's gps vs accel (higher rely on accels more, gps impact is reduced). Range should be 1.0 ~ 3.0? 1.5 is default
#define CH6_EKF_ACCEL_NOISE 44 // EKF's accel noise (lower means trust accels more, gps & baro less). Range should be 0.02 ~ 0.5 0.5 is default (but very robust at that level)
// Acro Trainer types
#define ACRO_TRAINER_DISABLED 0