Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-11 02:18:29 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF: Adjusted tuning parameters for plane use

Browse Source
This commit is contained in:
Paul Riseborough 2014-01-18 12:04:43 +11:00 committed by Andrew Tridgell
parent b4171853b1
commit 357743ee2d
1 changed files with 2 additions and 2 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

4
libraries/AP_NavEKF/AP_NavEKF.cpp
View File

@ -43,7 +43,7 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) :
{ {
// Tuning parameters // Tuning parameters
_gpsHorizVelNoise = 0.15f; // GPS horizontal velocity measurement noise : m/s _gpsHorizVelNoise = 0.15f; // GPS horizontal velocity measurement noise : m/s
_gpsVertVelNoise = 0.15f; // GPS vertical velocity measurement noise : m/s _gpsVertVelNoise = 0.30f; // GPS vertical velocity measurement noise : m/s
_gpsHorizPosNoise = 0.5f; // GPS horizontal position measurement noise : m _gpsHorizPosNoise = 0.5f; // GPS horizontal position measurement noise : m
_baroAltNoise = 0.5f; // Baro height measurement noise : m _baroAltNoise = 0.5f; // Baro height measurement noise : m
_gpsNEVelVarAccScale = 0.1f; // scale factor applied to NE velocity measurement variance due to Vdot _gpsNEVelVarAccScale = 0.1f; // scale factor applied to NE velocity measurement variance due to Vdot
@ -72,7 +72,7 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) :
// a 'smoother' trajectory output // a 'smoother' trajectory output
_msecGpsAvg = 200; // average number of msec between GPS measurements _msecGpsAvg = 200; // average number of msec between GPS measurements
_msecHgtAvg = 100; // average number of msec between height measurements _msecHgtAvg = 100; // average number of msec between height measurements
_fusionModeGPS = 1; // 0 = use 3D velocity, 1 = use 2D velocity, 2 = use no velocity _fusionModeGPS = 0; // 0 = use 3D velocity, 1 = use 2D velocity, 2 = use no velocity
// These parameters control the size of the gate that is applied to reject unreasonable measurements // These parameters control the size of the gate that is applied to reject unreasonable measurements
// The innovation variancea (contained in the EKF4 log message) are multiplied by these scale factors to determine the +- // The innovation variancea (contained in the EKF4 log message) are multiplied by these scale factors to determine the +-
// gate thresholds. If the innovation for a measurement (contained in the EKF3 log message) is outside the gate, that measurement // gate thresholds. If the innovation for a measurement (contained in the EKF3 log message) is outside the gate, that measurement