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AP_NavEKF2: Update default parameters 

Updates from preliminary tuning in Replay
This commit is contained in:
Paul Riseborough 2015-09-25 19:22:56 +10:00
parent 73686dfa89
commit 53e58f1075
2 changed files with 17 additions and 17 deletions
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26
libraries/AP_NavEKF2/AP_NavEKF2.cpp
View File

@ -22,9 +22,9 @@
#define MAG_NOISE_DEFAULT 0.05f
#define GYRO_PNOISE_DEFAULT 0.005f
#define ACC_PNOISE_DEFAULT 0.25f
#define GBIAS_PNOISE_DEFAULT 5E-06f
#define ABIAS_PNOISE_DEFAULT 0.00005f
#define MAG_PNOISE_DEFAULT 0.0003f
#define GBIAS_PNOISE_DEFAULT 7.0E-05f
#define ABIAS_PNOISE_DEFAULT 1.0E-04f
#define MAG_PNOISE_DEFAULT 2.0E-03f
#define VEL_GATE_DEFAULT 5
#define POS_GATE_DEFAULT 5
#define HGT_GATE_DEFAULT 5
@ -34,7 +34,7 @@
#define FLOW_MEAS_DELAY 10
#define FLOW_NOISE_DEFAULT 0.25f
#define FLOW_GATE_DEFAULT 3
#define GSCALE_PNOISE_DEFAULT 1e-6f
#define GSCALE_PNOISE_DEFAULT 1.5E-03f
#elif APM_BUILD_TYPE(APM_BUILD_APMrover2)
// rover defaults
@ -45,9 +45,9 @@
#define MAG_NOISE_DEFAULT 0.05f
#define GYRO_PNOISE_DEFAULT 0.005f
#define ACC_PNOISE_DEFAULT 0.25f
#define GBIAS_PNOISE_DEFAULT 5E-06f
#define ABIAS_PNOISE_DEFAULT 0.00005f
#define MAG_PNOISE_DEFAULT 0.0003f
#define GBIAS_PNOISE_DEFAULT 7.0E-05f
#define ABIAS_PNOISE_DEFAULT 1.0E-04f
#define MAG_PNOISE_DEFAULT 2.0E-03f
#define VEL_GATE_DEFAULT 5
#define POS_GATE_DEFAULT 5
#define HGT_GATE_DEFAULT 5
@ -57,7 +57,7 @@
#define FLOW_MEAS_DELAY 10
#define FLOW_NOISE_DEFAULT 0.25f
#define FLOW_GATE_DEFAULT 3
#define GSCALE_PNOISE_DEFAULT 1e-6f
#define GSCALE_PNOISE_DEFAULT 1.5E-03f
#else
// generic defaults (and for plane)
@ -68,19 +68,19 @@
#define MAG_NOISE_DEFAULT 0.05f
#define GYRO_PNOISE_DEFAULT 0.005f
#define ACC_PNOISE_DEFAULT 0.25f
#define GBIAS_PNOISE_DEFAULT 5E-06f
#define ABIAS_PNOISE_DEFAULT 0.00005f
#define MAG_PNOISE_DEFAULT 0.0003f
#define GBIAS_PNOISE_DEFAULT 7.0E-05f
#define ABIAS_PNOISE_DEFAULT 1.0E-04f
#define MAG_PNOISE_DEFAULT 2.0E-03f
#define VEL_GATE_DEFAULT 5
#define POS_GATE_DEFAULT 5
#define HGT_GATE_DEFAULT 5
#define HGT_GATE_DEFAULT 10
#define MAG_GATE_DEFAULT 3
#define MAG_CAL_DEFAULT 3
#define GLITCH_RADIUS_DEFAULT 25
#define FLOW_MEAS_DELAY 10
#define FLOW_NOISE_DEFAULT 0.25f
#define FLOW_GATE_DEFAULT 3
#define GSCALE_PNOISE_DEFAULT 1e-6f
#define GSCALE_PNOISE_DEFAULT 1.5E-03f
#endif // APM_BUILD_DIRECTORY

8
libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
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@ -748,15 +748,15 @@ void NavEKF2_core::CovariancePrediction()
// use filtered height rate to increase wind process noise when climbing or descending
// this allows for wind gradient effects.
windVelSigma = dt * constrain_float(frontend._windVelProcessNoise, 0.01f, 1.0f) * (1.0f + constrain_float(frontend._wndVarHgtRateScale, 0.0f, 1.0f) * fabsf(hgtRate));
dAngBiasSigma = dt * constrain_float(frontend._gyroBiasProcessNoise, 1e-8f, 1e-4f);
dAngBiasSigma = dt * constrain_float(frontend._gyroBiasProcessNoise, 0.0f, 1e-4f);
dVelBiasSigma = dt * constrain_float(frontend._accelBiasProcessNoise, 1e-6f, 1e-2f);
dAngScaleSigma = dt * constrain_float(frontend._gyroScaleProcessNoise,1e-8f,1e-5f);
dAngScaleSigma = dt * constrain_float(frontend._gyroScaleProcessNoise,1e-6f,1e-2f);
magEarthSigma = dt * constrain_float(frontend._magProcessNoise, 1e-4f, 1e-2f);
magBodySigma = dt * constrain_float(frontend._magProcessNoise, 1e-4f, 1e-2f);
for (uint8_t i= 0; i<=8; i++) processNoise[i] = 1.0e-9f;
for (uint8_t i= 0; i<=8; i++) processNoise[i] = 0.0f;
for (uint8_t i=9; i<=11; i++) processNoise[i] = dAngBiasSigma;
for (uint8_t i=10; i<=12; i++) processNoise[i] = dAngBiasSigma;
for (uint8_t i=12; i<=14; i++) processNoise[i] = dAngScaleSigma;
processNoise[15] = dVelBiasSigma;
if (expectGndEffectTakeoff) {
processNoise[15] = 0.0f;
} else if (!filterArmed) {