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AP_NavEKF2: Update parameter values.

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Testing on different platforms has shown that the new EKF has smaller innovations enabling innovation consistency checks that reject GPS and baro errors to be tightened.
The position and velocity thresholds for plane have been left the same because planes are less sensitive to GPS glitches as they fly higher and with more separation to surrounding objects. They are also more prone to bad inertial data due to the installation practices.
The altitude noise has been increased on plane to allow for the larger baro disturbances that result from the higher speeds and lack of a proper static pressure source. The innovation consistency gate has been adjusted to provide the same baro error limit of ~20m before baro is rejected.
This commit is contained in:
Paul Riseborough 2015-10-24 07:26:50 +11:00
parent 1e7ac873b9
commit 55ac8f0230
1 changed files with 8 additions and 8 deletions
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16
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -25,9 +25,9 @@
#define GBIAS_PNOISE_DEFAULT 7.0E-05f
#define ABIAS_PNOISE_DEFAULT 1.0E-04f
#define MAG_PNOISE_DEFAULT 2.5E-02f
#define VEL_GATE_DEFAULT 5
#define POS_GATE_DEFAULT 5
#define HGT_GATE_DEFAULT 5
#define VEL_GATE_DEFAULT 3
#define POS_GATE_DEFAULT 3
#define HGT_GATE_DEFAULT 3
#define MAG_GATE_DEFAULT 3
#define MAG_CAL_DEFAULT 3
#define GLITCH_RADIUS_DEFAULT 25
@ -48,9 +48,9 @@
#define GBIAS_PNOISE_DEFAULT 7.0E-05f
#define ABIAS_PNOISE_DEFAULT 1.0E-04f
#define MAG_PNOISE_DEFAULT 2.5E-02f
#define VEL_GATE_DEFAULT 5
#define POS_GATE_DEFAULT 5
#define HGT_GATE_DEFAULT 5
#define VEL_GATE_DEFAULT 3
#define POS_GATE_DEFAULT 3
#define HGT_GATE_DEFAULT 3
#define MAG_GATE_DEFAULT 3
#define MAG_CAL_DEFAULT 2
#define GLITCH_RADIUS_DEFAULT 25
@ -64,7 +64,7 @@
#define VELNE_NOISE_DEFAULT 0.5f
#define VELD_NOISE_DEFAULT 0.7f
#define POSNE_NOISE_DEFAULT 1.0f
#define ALT_NOISE_DEFAULT 2.0f
#define ALT_NOISE_DEFAULT 5.0f
#define MAG_NOISE_DEFAULT 0.05f
#define GYRO_PNOISE_DEFAULT 0.005f
#define ACC_PNOISE_DEFAULT 0.25f
@ -73,7 +73,7 @@
#define MAG_PNOISE_DEFAULT 2.5E-02f
#define VEL_GATE_DEFAULT 5
#define POS_GATE_DEFAULT 5
#define HGT_GATE_DEFAULT 10
#define HGT_GATE_DEFAULT 4
#define MAG_GATE_DEFAULT 3
#define MAG_CAL_DEFAULT 0
#define GLITCH_RADIUS_DEFAULT 25