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AP_NavEKF: make params public so they can be tuned

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Randy Mackay 2014-01-06 16:38:32 +09:00 committed by Andrew Tridgell
parent 9f130b40a0
commit 7c73020015
1 changed files with 2 additions and 0 deletions
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2
libraries/AP_NavEKF/AP_NavEKF.h
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@ -191,6 +191,7 @@ private:
bool statesInitialised; bool statesInitialised;
public:
// Tuning Parameters // Tuning Parameters
ftype _gpsHorizVelNoise; // GPS horizontal velocity noise : m/s ftype _gpsHorizVelNoise; // GPS horizontal velocity noise : m/s
ftype _gpsVertVelNoise; // GPS vertical velocity noise : m/s ftype _gpsVertVelNoise; // GPS vertical velocity noise : m/s
@ -208,6 +209,7 @@ private:
ftype _dAngBiasNoise; // gyro bias state noise : rad/s^2 ftype _dAngBiasNoise; // gyro bias state noise : rad/s^2
ftype _magEarthNoise; // earth magnetic field process noise : gauss/sec ftype _magEarthNoise; // earth magnetic field process noise : gauss/sec
ftype _magBodyNoise; // earth magnetic field process noise : gauss/sec ftype _magBodyNoise; // earth magnetic field process noise : gauss/sec
private:
Vector21 states; // state matrix - 4 x quaternions, 3 x Vel, 3 x Pos, 3 x gyro bias, 3 x accel bias, 2 x wind vel, 3 x earth mag field, 3 x body mag field Vector21 states; // state matrix - 4 x quaternions, 3 x Vel, 3 x Pos, 3 x gyro bias, 3 x accel bias, 2 x wind vel, 3 x earth mag field, 3 x body mag field