mirror of https://github.com/ArduPilot/ardupilot
AP_NavEKF: use intuitive units for imu bias process noise parameters
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@ -350,11 +350,11 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = {
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AP_GROUPINFO("ACC_PNOISE", 25, NavEKF2, _accNoise, ACC_PNOISE_DEFAULT),
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// @Param: GBIAS_PNOISE
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// @DisplayName: Rate gyro bias process noise (rad/s)
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// @DisplayName: Rate gyro bias stability (rad/s/s)
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// @Description: This state process noise controls growth of the gyro delta angle bias state error estimate. Increasing it makes rate gyro bias estimation faster and noisier.
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// @Range: 0.0000001 0.00001
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// @Range: 0.00001 0.001
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// @User: Advanced
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// @Units: rad/s
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// @Units: rad/s/s
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AP_GROUPINFO("GBIAS_PNOISE", 26, NavEKF2, _gyroBiasProcessNoise, GBIAS_PNOISE_DEFAULT),
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// @Param: GSCL_PNOISE
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@ -366,11 +366,11 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = {
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AP_GROUPINFO("GSCL_PNOISE", 27, NavEKF2, _gyroScaleProcessNoise, GSCALE_PNOISE_DEFAULT),
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// @Param: ABIAS_PNOISE
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// @DisplayName: Accelerometer bias process noise (m/s^2)
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// @DisplayName: Accelerometer bias stability (m/s^3)
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// @Description: This noise controls the growth of the vertical accelerometer delta velocity bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.
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// @Range: 0.00001 0.001
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// @User: Advanced
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// @Units: m/s/s
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// @Units: m/s/s/s
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AP_GROUPINFO("ABIAS_PNOISE", 28, NavEKF2, _accelBiasProcessNoise, ABIAS_PNOISE_DEFAULT),
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// @Param: MAG_PNOISE
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@ -669,8 +669,8 @@ void NavEKF2_core::CovariancePrediction()
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// use filtered height rate to increase wind process noise when climbing or descending
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// this allows for wind gradient effects.
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windVelSigma = dt * constrain_float(frontend->_windVelProcessNoise, 0.0f, 1.0f) * (1.0f + constrain_float(frontend->_wndVarHgtRateScale, 0.0f, 1.0f) * fabsf(hgtRate));
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dAngBiasSigma = dt * constrain_float(frontend->_gyroBiasProcessNoise, 0.0f, 1.0f);
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dVelBiasSigma = dt * constrain_float(frontend->_accelBiasProcessNoise, 0.0f, 1.0f);
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dAngBiasSigma = sq(dt) * constrain_float(frontend->_gyroBiasProcessNoise, 0.0f, 1.0f);
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dVelBiasSigma = sq(dt) * constrain_float(frontend->_accelBiasProcessNoise, 0.0f, 1.0f);
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dAngScaleSigma = dt * constrain_float(frontend->_gyroScaleProcessNoise, 0.0f, 1.0f);
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magEarthSigma = dt * constrain_float(frontend->_magProcessNoise, 0.0f, 1.0f);
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magBodySigma = dt * constrain_float(frontend->_magProcessNoise, 0.0f, 1.0f);
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