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AP_NavEKF2: Adjust parameter defaults

This commit is contained in:
Paul Riseborough 2015-09-24 17:40:18 +10:00
parent 8bcedb228b
commit 7230472516
1 changed files with 32 additions and 29 deletions
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61
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -17,67 +17,70 @@
// copter defaults // copter defaults
#define VELNE_NOISE_DEFAULT 0.5f #define VELNE_NOISE_DEFAULT 0.5f
#define VELD_NOISE_DEFAULT 0.7f #define VELD_NOISE_DEFAULT 0.7f
#define POSNE_NOISE_DEFAULT 0.5f #define POSNE_NOISE_DEFAULT 1.0f
#define ALT_NOISE_DEFAULT 1.0f #define ALT_NOISE_DEFAULT 1.5f
#define MAG_NOISE_DEFAULT 0.05f #define MAG_NOISE_DEFAULT 0.05f
#define GYRO_PNOISE_DEFAULT 0.01f #define GYRO_PNOISE_DEFAULT 0.005f
#define ACC_PNOISE_DEFAULT 0.25f #define ACC_PNOISE_DEFAULT 0.25f
#define GBIAS_PNOISE_DEFAULT 1E-05f #define GBIAS_PNOISE_DEFAULT 5E-06f
#define ABIAS_PNOISE_DEFAULT 0.00005f #define ABIAS_PNOISE_DEFAULT 0.00005f
#define MAG_PNOISE_DEFAULT 0.0003f #define MAG_PNOISE_DEFAULT 0.0003f
#define VEL_GATE_DEFAULT 5 #define VEL_GATE_DEFAULT 5
#define POS_GATE_DEFAULT 5 #define POS_GATE_DEFAULT 5
#define HGT_GATE_DEFAULT 10 #define HGT_GATE_DEFAULT 5
#define MAG_GATE_DEFAULT 3 #define MAG_GATE_DEFAULT 3
#define MAG_CAL_DEFAULT 3 #define MAG_CAL_DEFAULT 3
#define GLITCH_RADIUS_DEFAULT 25 #define GLITCH_RADIUS_DEFAULT 25
#define FLOW_MEAS_DELAY 10 #define FLOW_MEAS_DELAY 10
#define FLOW_NOISE_DEFAULT 0.25f #define FLOW_NOISE_DEFAULT 0.25f
#define FLOW_GATE_DEFAULT 3 #define FLOW_GATE_DEFAULT 3
#define GSCALE_PNOISE_DEFAULT 1e-6f
#elif APM_BUILD_TYPE(APM_BUILD_APMrover2) #elif APM_BUILD_TYPE(APM_BUILD_APMrover2)
// rover defaults // rover defaults
#define VELNE_NOISE_DEFAULT 0.5f #define VELNE_NOISE_DEFAULT 0.5f
#define VELD_NOISE_DEFAULT 0.7f #define VELD_NOISE_DEFAULT 0.7f
#define POSNE_NOISE_DEFAULT 0.5f #define POSNE_NOISE_DEFAULT 1.0f
#define ALT_NOISE_DEFAULT 1.0f #define ALT_NOISE_DEFAULT 1.5f
#define MAG_NOISE_DEFAULT 0.05f #define MAG_NOISE_DEFAULT 0.05f
#define GYRO_PNOISE_DEFAULT 0.01f #define GYRO_PNOISE_DEFAULT 0.005f
#define ACC_PNOISE_DEFAULT 0.25f #define ACC_PNOISE_DEFAULT 0.25f
#define GBIAS_PNOISE_DEFAULT 8E-06f #define GBIAS_PNOISE_DEFAULT 5E-06f
#define ABIAS_PNOISE_DEFAULT 0.00005f #define ABIAS_PNOISE_DEFAULT 0.00005f
#define MAG_PNOISE_DEFAULT 0.0003f #define MAG_PNOISE_DEFAULT 0.0003f
#define VEL_GATE_DEFAULT 5 #define VEL_GATE_DEFAULT 5
#define POS_GATE_DEFAULT 5 #define POS_GATE_DEFAULT 5
#define HGT_GATE_DEFAULT 10 #define HGT_GATE_DEFAULT 5
#define MAG_GATE_DEFAULT 3 #define MAG_GATE_DEFAULT 3
#define MAG_CAL_DEFAULT 2 #define MAG_CAL_DEFAULT 3
#define GLITCH_RADIUS_DEFAULT 25 #define GLITCH_RADIUS_DEFAULT 25
#define FLOW_MEAS_DELAY 25 #define FLOW_MEAS_DELAY 10
#define FLOW_NOISE_DEFAULT 0.15f #define FLOW_NOISE_DEFAULT 0.25f
#define FLOW_GATE_DEFAULT 5 #define FLOW_GATE_DEFAULT 3
#define GSCALE_PNOISE_DEFAULT 1e-6f
#else #else
// generic defaults (and for plane) // generic defaults (and for plane)
#define VELNE_NOISE_DEFAULT 0.5f #define VELNE_NOISE_DEFAULT 0.5f
#define VELD_NOISE_DEFAULT 0.7f #define VELD_NOISE_DEFAULT 0.7f
#define POSNE_NOISE_DEFAULT 0.5f #define POSNE_NOISE_DEFAULT 1.0f
#define ALT_NOISE_DEFAULT 0.5f #define ALT_NOISE_DEFAULT 1.5f
#define MAG_NOISE_DEFAULT 0.05f #define MAG_NOISE_DEFAULT 0.05f
#define GYRO_PNOISE_DEFAULT 0.015f #define GYRO_PNOISE_DEFAULT 0.005f
#define ACC_PNOISE_DEFAULT 0.5f #define ACC_PNOISE_DEFAULT 0.25f
#define GBIAS_PNOISE_DEFAULT 8E-06f #define GBIAS_PNOISE_DEFAULT 5E-06f
#define ABIAS_PNOISE_DEFAULT 0.00005f #define ABIAS_PNOISE_DEFAULT 0.00005f
#define MAG_PNOISE_DEFAULT 0.0003f #define MAG_PNOISE_DEFAULT 0.0003f
#define VEL_GATE_DEFAULT 6 #define VEL_GATE_DEFAULT 5
#define POS_GATE_DEFAULT 30 #define POS_GATE_DEFAULT 5
#define HGT_GATE_DEFAULT 20 #define HGT_GATE_DEFAULT 5
#define MAG_GATE_DEFAULT 3 #define MAG_GATE_DEFAULT 3
#define MAG_CAL_DEFAULT 0 #define MAG_CAL_DEFAULT 3
#define GLITCH_RADIUS_DEFAULT 25 #define GLITCH_RADIUS_DEFAULT 25
#define FLOW_MEAS_DELAY 25 #define FLOW_MEAS_DELAY 10
#define FLOW_NOISE_DEFAULT 0.3f #define FLOW_NOISE_DEFAULT 0.25f
#define FLOW_GATE_DEFAULT 3 #define FLOW_GATE_DEFAULT 3
#define GSCALE_PNOISE_DEFAULT 1e-6f
#endif // APM_BUILD_DIRECTORY #endif // APM_BUILD_DIRECTORY
@ -327,7 +330,7 @@ const AP_Param::GroupInfo NavEKF2::var_info[] PROGMEM = {
// @Range: 0.0000001 0.00001 // @Range: 0.0000001 0.00001
// @User: Advanced // @User: Advanced
// @Units: 1/s // @Units: 1/s
AP_GROUPINFO("GSCL_PNOISE", 27, NavEKF2, _gyroScaleProcessNoise, 1e-6f), AP_GROUPINFO("GSCL_PNOISE", 27, NavEKF2, _gyroScaleProcessNoise, GSCALE_PNOISE_DEFAULT),
// @Param: ABIAS_PNOISE // @Param: ABIAS_PNOISE
// @DisplayName: Accelerometer bias process noise (m/s^2) // @DisplayName: Accelerometer bias process noise (m/s^2)