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AP_NavEKF: eliminate onGndBaroNoise

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Paul Riseborough 2015-03-21 14:43:26 -07:00 committed by Andrew Tridgell
parent fafb898341
commit 5d0952ba23
2 changed files with 1 additions and 5 deletions
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5
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -406,7 +406,6 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) :
flowIntervalMax_ms(100), // maximum allowable time between flow fusion events
gndEffectTO_ms(30000), // time in msec that baro ground effect compensation will timeout after initiation
gndEffectBaroScaler(4.0f), // scaler applied to the barometer observation variance when operating in ground effect
onGndBaroNoise(0.5f), // measurement noise used by barometer fusion when on ground
gndEffectBaroTO_ms(5000) // time in msec that the baro measurement will be rejected if the gndEffectBaroVarLim has failed it
#if CONFIG_HAL_BOARD == HAL_BOARD_PX4 || CONFIG_HAL_BOARD == HAL_BOARD_VRBRAIN
@ -1925,12 +1924,10 @@ void NavEKF::FuseVelPosNED()
R_OBS[3] = sq(constrain_float(_gpsHorizPosNoise, 0.1f, 10.0f)) + sq(posErr);
R_OBS[4] = R_OBS[3];
R_OBS[5] = sq(constrain_float(_baroAltNoise, 0.1f, 10.0f));
// reduce weighting (increase observation noise) on baro if we are likely to be in ground effect
// when on the ground we use a smaller observation noise because there are less baro disturbances and we can do faster learning of Z accelerometer bias offsets
if (getGndEffectMode() && vehicleArmed) {
R_OBS[5] *= gndEffectBaroScaler;
} else if (!vehicleArmed) {
R_OBS[5] = sq(onGndBaroNoise);
}
// For data integrity checks we use the same measurement variances as used to calculate the Kalman gains for all measurements except GPS horizontal velocity

1
libraries/AP_NavEKF/AP_NavEKF.h
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@ -461,7 +461,6 @@ private:
const float gpsDVelVarAccScale; // Scale factor applied to vertical velocity measurement variance due to manoeuvre acceleration
const uint16_t gndEffectTO_ms; // time in msec that ground effect mode is active after being activated
const float gndEffectBaroScaler; // scaler applied to the barometer observation variance when ground effect mode is active
const float onGndBaroNoise; // measurement noise used by barometer fusion when on ground
const float gndEffectBaroTO_ms; // time in msec that the baro measurement will be rejected if the gndEffectBaroVarLim has failed it
const float gpsPosVarAccScale; // Scale factor applied to horizontal position measurement variance due to manoeuvre acceleration
const float msecHgtDelay; // Height measurement delay (msec)