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AP_NavEKF: update params for copter

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Randy Mackay 2014-01-06 16:40:31 +09:00 committed by Andrew Tridgell
parent 20989fd5e9
commit 301a04b74a
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -50,9 +50,9 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) :
#endif #endif
{ {
// Tuning parameters // Tuning parameters
_gpsHorizVelNoise = 0.3f; // GPS horizontal velocity noise : m/s _gpsHorizVelNoise = 0.7f; // GPS horizontal velocity noise : m/s
_gpsVertVelNoise = 0.3f; // GPS vertical velocity noise : m/s _gpsVertVelNoise = 0.3f; // GPS vertical velocity noise : m/s
_gpsHorizPosNoise = 2.0f; // GPS horizontal position noise m _gpsHorizPosNoise = 1.5f; // GPS horizontal position noise m
_gpsVertPosNoise = 2.0f; // GPS or Baro vertical 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 _gpsVelVarAccScale = 0.2f; // scale factor applied to velocity variance due to Vdot
_gpsPosVarAccScale = 0.2f; // scale factor applied to position variance due to Vdot _gpsPosVarAccScale = 0.2f; // scale factor applied to position variance due to Vdot
@ -62,7 +62,7 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) :
_windStateNoise = 0.1f; // RMS rate of change of wind : (m/s^2) _windStateNoise = 0.1f; // RMS rate of change of wind : (m/s^2)
_wndVarHgtRateScale = 0.5f; // scale factor applied to wind process noise from height rate _wndVarHgtRateScale = 0.5f; // scale factor applied to wind process noise from height rate
_gyrNoise = 1.4544411e-2f; // gyro process noise : rad/s _gyrNoise = 1.4544411e-2f; // gyro process noise : rad/s
_accNoise = 0.5f; // accelerometer process noise : m/s^2 _accNoise = 0.02f; // accelerometer process noise : m/s^2
_dAngBiasNoise = 5.0e-7f; // gyro bias state noise : rad/s^2 _dAngBiasNoise = 5.0e-7f; // gyro bias state noise : rad/s^2
_magEarthNoise = 3.0e-4f; // earth magnetic field process noise : gauss/sec _magEarthNoise = 3.0e-4f; // earth magnetic field process noise : gauss/sec
_magBodyNoise = 3.0e-4f; // body magnetic field process noise : gauss/sec _magBodyNoise = 3.0e-4f; // body magnetic field process noise : gauss/sec