Mirror/ardupilot
5
0
Fork 0
mirror of https://github.com/ArduPilot/ardupilot synced 2025-01-23 09:08:30 -04:00
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF: fix parameter descriptions

Browse Source 
Errors pointed out by Richard (DK)
This commit is contained in:
Randy Mackay 2014-10-27 22:20:03 +09:00
parent ac7ea2a12c
commit 7d48704f82
1 changed files with 49 additions and 49 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

98
libraries/AP_NavEKF/AP_NavEKF.cpp
View File

@ -108,173 +108,173 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @Param: VELNE_NOISE // @Param: VELNE_NOISE
// @DisplayName: GPS horizontal velocity measurement noise (m/s) // @DisplayName: GPS horizontal velocity measurement noise (m/s)
// @Description: This is the RMS value of noise in the North and East GPS velocity measurements. Increasing it reduces the weighting on these measurements. // @Description: This is the RMS value of noise in the North and East GPS velocity measurements. Increasing it reduces the weighting on these measurements.
// @Range: 0.05 - 5.0 // @Range: 0.05 5.0
// @Increment: 0.05 // @Increment: 0.05
// @User: advanced // @User: Advanced
AP_GROUPINFO("VELNE_NOISE", 0, NavEKF, _gpsHorizVelNoise, VELNE_NOISE_DEFAULT), AP_GROUPINFO("VELNE_NOISE", 0, NavEKF, _gpsHorizVelNoise, VELNE_NOISE_DEFAULT),
// @Param: VELD_NOISE // @Param: VELD_NOISE
// @DisplayName: GPS vertical velocity measurement noise (m/s) // @DisplayName: GPS vertical velocity measurement noise (m/s)
// @Description: This is the RMS value of noise in the vertical GPS velocity measurement. Increasing it reduces the weighting on this measurement. // @Description: This is the RMS value of noise in the vertical GPS velocity measurement. Increasing it reduces the weighting on this measurement.
// @Range: 0.05 - 5.0 // @Range: 0.05 5.0
// @Increment: 0.05 // @Increment: 0.05
// @User: advanced // @User: Advanced
AP_GROUPINFO("VELD_NOISE", 1, NavEKF, _gpsVertVelNoise, VELD_NOISE_DEFAULT), AP_GROUPINFO("VELD_NOISE", 1, NavEKF, _gpsVertVelNoise, VELD_NOISE_DEFAULT),
// @Param: POSNE_NOISE // @Param: POSNE_NOISE
// @DisplayName: GPS horizontal position measurement noise (m) // @DisplayName: GPS horizontal position measurement noise (m)
// @Description: This is the RMS value of noise in the GPS horizontal position measurements. Increasing it reduces the weighting on these measurements. // @Description: This is the RMS value of noise in the GPS horizontal position measurements. Increasing it reduces the weighting on these measurements.
// @Range: 0.1 - 10.0 // @Range: 0.1 10.0
// @Increment: 0.1 // @Increment: 0.1
// @User: advanced // @User: Advanced
AP_GROUPINFO("POSNE_NOISE", 2, NavEKF, _gpsHorizPosNoise, POSNE_NOISE_DEFAULT), AP_GROUPINFO("POSNE_NOISE", 2, NavEKF, _gpsHorizPosNoise, POSNE_NOISE_DEFAULT),
// @Param: ALT_NOISE // @Param: ALT_NOISE
// @DisplayName: Altitude measurement noise (m) // @DisplayName: Altitude measurement noise (m)
// @Description: This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting on this measurement. // @Description: This is the RMS value of noise in the altitude measurement. Increasing it reduces the weighting on this measurement.
// @Range: 0.1 - 10.0 // @Range: 0.1 10.0
// @Increment: 0.1 // @Increment: 0.1
// @User: advanced // @User: Advanced
AP_GROUPINFO("ALT_NOISE", 3, NavEKF, _baroAltNoise, ALT_NOISE_DEFAULT), AP_GROUPINFO("ALT_NOISE", 3, NavEKF, _baroAltNoise, ALT_NOISE_DEFAULT),
// @Param: MAG_NOISE // @Param: MAG_NOISE
// @DisplayName: Magnetometer measurement noise (Gauss) // @DisplayName: Magnetometer measurement noise (Gauss)
// @Description: This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements. // @Description: This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.
// @Range: 0.01 - 0.5 // @Range: 0.01 0.5
// @Increment: 0.01 // @Increment: 0.01
// @User: advanced // @User: Advanced
AP_GROUPINFO("MAG_NOISE", 4, NavEKF, _magNoise, MAG_NOISE_DEFAULT), AP_GROUPINFO("MAG_NOISE", 4, NavEKF, _magNoise, MAG_NOISE_DEFAULT),
// @Param: EAS_NOISE // @Param: EAS_NOISE
// @DisplayName: Equivalent airspeed measurement noise (m/s) // @DisplayName: Equivalent airspeed measurement noise (m/s)
// @Description: This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements. // @Description: This is the RMS value of noise in magnetometer measurements. Increasing it reduces the weighting on these measurements.
// @Range: 0.5 - 5.0 // @Range: 0.5 5.0
// @Increment: 0.1 // @Increment: 0.1
// @User: advanced // @User: Advanced
AP_GROUPINFO("EAS_NOISE", 5, NavEKF, _easNoise, 1.4f), AP_GROUPINFO("EAS_NOISE", 5, NavEKF, _easNoise, 1.4f),
// @Param: WIND_PNOISE // @Param: WIND_PNOISE
// @DisplayName: Wind velocity process noise (m/s^2) // @DisplayName: Wind velocity process noise (m/s^2)
// @Description: This noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier. // @Description: This noise controls the growth of wind state error estimates. Increasing it makes wind estimation faster and noisier.
// @Range: 0.01 - 1.0 // @Range: 0.01 1.0
// @Increment: 0.1 // @Increment: 0.1
// @User: advanced // @User: Advanced
AP_GROUPINFO("WIND_PNOISE", 6, NavEKF, _windVelProcessNoise, 0.1f), AP_GROUPINFO("WIND_PNOISE", 6, NavEKF, _windVelProcessNoise, 0.1f),
// @Param: WIND_PSCALE // @Param: WIND_PSCALE
// @DisplayName: Height rate to wind procss noise scaler // @DisplayName: Height rate to wind procss noise scaler
// @Description: Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind speed estimation noiser. // @Description: Increasing this parameter increases how rapidly the wind states adapt when changing altitude, but does make wind speed estimation noiser.
// @Range: 0.0 - 1.0 // @Range: 0.0 1.0
// @Increment: 0.1 // @Increment: 0.1
// @User: advanced // @User: Advanced
AP_GROUPINFO("WIND_PSCALE", 7, NavEKF, _wndVarHgtRateScale, 0.5f), AP_GROUPINFO("WIND_PSCALE", 7, NavEKF, _wndVarHgtRateScale, 0.5f),
// @Param: GYRO_PNOISE // @Param: GYRO_PNOISE
// @DisplayName: Rate gyro noise (rad/s) // @DisplayName: Rate gyro noise (rad/s)
// @Description: This noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more. // @Description: This noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.
// @Range: 0.001 - 0.05 // @Range: 0.001 0.05
// @Increment: 0.001 // @Increment: 0.001
// @User: advanced // @User: Advanced
AP_GROUPINFO("GYRO_PNOISE", 8, NavEKF, _gyrNoise, GYRO_PNOISE_DEFAULT), AP_GROUPINFO("GYRO_PNOISE", 8, NavEKF, _gyrNoise, GYRO_PNOISE_DEFAULT),
// @Param: ACC_PNOISE // @Param: ACC_PNOISE
// @DisplayName: Accelerometer noise (m/s^2) // @DisplayName: Accelerometer noise (m/s^2)
// @Description: This noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more. // @Description: This noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.
// @Range: 0.05 - 1.0 AP_Float _gpsNEVelVarAccScale; // scale factor applied to NE velocity measurement variance due to Vdot // @Range: 0.05 1.0
// @Increment: 0.01 // @Increment: 0.01
// @User: advanced // @User: Advanced
AP_GROUPINFO("ACC_PNOISE", 9, NavEKF, _accNoise, ACC_PNOISE_DEFAULT), AP_GROUPINFO("ACC_PNOISE", 9, NavEKF, _accNoise, ACC_PNOISE_DEFAULT),
// @Param: GBIAS_PNOISE // @Param: GBIAS_PNOISE
// @DisplayName: Rate gyro bias process noise (rad/s) // @DisplayName: Rate gyro bias process noise (rad/s)
// @Description: This noise controls the growth of gyro bias state error estimates. Increasing it makes rate gyro bias estimation faster and noisier. // @Description: This noise controls the growth of gyro bias state error estimates. Increasing it makes rate gyro bias estimation faster and noisier.
// @Range: 0.0000001 - 0.00001 // @Range: 0.0000001 0.00001
// @User: advanced // @User: Advanced
AP_GROUPINFO("GBIAS_PNOISE", 10, NavEKF, _gyroBiasProcessNoise, GBIAS_PNOISE_DEFAULT), AP_GROUPINFO("GBIAS_PNOISE", 10, NavEKF, _gyroBiasProcessNoise, GBIAS_PNOISE_DEFAULT),
// @Param: ABIAS_PNOISE // @Param: ABIAS_PNOISE
// @DisplayName: Accelerometer bias process noise (m/s^2) // @DisplayName: Accelerometer bias process noise (m/s^2)
// @Description: This noise controls the growth of the vertical acelerometer bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier. // @Description: This noise controls the growth of the vertical acelerometer bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.
// @Range: 0.00001 - 0.001 // @Range: 0.00001 0.001
// @User: advanced // @User: Advanced
AP_GROUPINFO("ABIAS_PNOISE", 11, NavEKF, _accelBiasProcessNoise, ABIAS_PNOISE_DEFAULT), AP_GROUPINFO("ABIAS_PNOISE", 11, NavEKF, _accelBiasProcessNoise, ABIAS_PNOISE_DEFAULT),
// @Param: MAGE_PNOISE // @Param: MAGE_PNOISE
// @DisplayName: Earth magnetic field process noise (gauss/s) // @DisplayName: Earth magnetic field process noise (gauss/s)
// @Description: This noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field bias estimation faster and noisier. // @Description: This noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field bias estimation faster and noisier.
// @Range: 0.0001 - 0.01 // @Range: 0.0001 0.01
// @User: advanced // @User: Advanced
AP_GROUPINFO("MAGE_PNOISE", 12, NavEKF, _magEarthProcessNoise, MAGE_PNOISE_DEFAULT), AP_GROUPINFO("MAGE_PNOISE", 12, NavEKF, _magEarthProcessNoise, MAGE_PNOISE_DEFAULT),
// @Param: MAGB_PNOISE // @Param: MAGB_PNOISE
// @DisplayName: Body magnetic field process noise (gauss/s) // @DisplayName: Body magnetic field process noise (gauss/s)
// @Description: This noise controls the growth of body magnetic field state error estimates. Increasing it makes compass offset estimation faster and noisier. // @Description: This noise controls the growth of body magnetic field state error estimates. Increasing it makes compass offset estimation faster and noisier.
// @Range: 0.0001 - 0.01 // @Range: 0.0001 0.01
// @User: advanced // @User: Advanced
AP_GROUPINFO("MAGB_PNOISE", 13, NavEKF, _magBodyProcessNoise, MAGB_PNOISE_DEFAULT), AP_GROUPINFO("MAGB_PNOISE", 13, NavEKF, _magBodyProcessNoise, MAGB_PNOISE_DEFAULT),
// @Param: VEL_DELAY // @Param: VEL_DELAY
// @DisplayName: GPS velocity measurement delay (msec) // @DisplayName: GPS velocity measurement delay (msec)
// @Description: This is the number of msec that the GPS velocity measurements lag behind the inertial measurements. // @Description: This is the number of msec that the GPS velocity measurements lag behind the inertial measurements.
// @Range: 0 - 500 // @Range: 0 500
// @Increment: 10 // @Increment: 10
// @User: advanced // @User: Advanced
AP_GROUPINFO("VEL_DELAY", 14, NavEKF, _msecVelDelay, 220), AP_GROUPINFO("VEL_DELAY", 14, NavEKF, _msecVelDelay, 220),
// @Param: POS_DELAY // @Param: POS_DELAY
// @DisplayName: GPS position measurement delay (msec) // @DisplayName: GPS position measurement delay (msec)
// @Description: This is the number of msec that the GPS position measurements lag behind the inertial measurements. // @Description: This is the number of msec that the GPS position measurements lag behind the inertial measurements.
// @Range: 0 - 500 // @Range: 0 500
// @Increment: 10 // @Increment: 10
// @User: advancedScale factor applied to horizontal position measurement variance due to manoeuvre acceleration // @User: Advanced
AP_GROUPINFO("POS_DELAY", 15, NavEKF, _msecPosDelay, 220), AP_GROUPINFO("POS_DELAY", 15, NavEKF, _msecPosDelay, 220),
// @Param: GPS_TYPE // @Param: GPS_TYPE
// @DisplayName: GPS velocity mode control // @DisplayName: GPS velocity mode control
// @Description: This parameter controls use of GPS velocity measurements : 0 = use 3D velocity, 1 = use 2D velocity, 2 = use no velocity // @Description: This parameter controls use of GPS velocity measurements : 0 = use 3D velocity, 1 = use 2D velocity, 2 = use no velocity
// @Range: 0 - 3 // @Range: 0 3
// @Increment: 1 // @Increment: 1
// @User: advanced // @User: Advanced
AP_GROUPINFO("GPS_TYPE", 16, NavEKF, _fusionModeGPS, 0), AP_GROUPINFO("GPS_TYPE", 16, NavEKF, _fusionModeGPS, 0),
// @Param: VEL_GATE // @Param: VEL_GATE
// @DisplayName: GPS velocity measurement gate size // @DisplayName: GPS velocity measurement gate size
// @Description: This parameter sets the number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted. // @Description: This parameter sets the number of standard deviations applied to the GPS velocity measurement innovation consistency check. Decreasing it makes it more likely that good measurements willbe rejected. Increasing it makes it more likely that bad measurements will be accepted.
// @Range: 1 - 100 // @Range: 1 100
// @Increment: 1 // @Increment: 1
// @User: advanced // @User: Advanced
AP_GROUPINFO("VEL_GATE", 17, NavEKF, _gpsVelInnovGate, VEL_GATE_DEFAULT), AP_GROUPINFO("VEL_GATE", 17, NavEKF, _gpsVelInnovGate, VEL_GATE_DEFAULT),
// @Param: POS_GATE // @Param: POS_GATE
// @DisplayName: GPS position measurement gate size // @DisplayName: GPS position measurement gate size
// @Description: This parameter sets the number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. // @Description: This parameter sets the number of standard deviations applied to the GPS position measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
// @Range: 1 - 100 // @Range: 1 100
// @Increment: 1 // @Increment: 1
// @User: advanced // @User: Advanced
AP_GROUPINFO("POS_GATE", 18, NavEKF, _gpsPosInnovGate, POS_GATE_DEFAULT), AP_GROUPINFO("POS_GATE", 18, NavEKF, _gpsPosInnovGate, POS_GATE_DEFAULT),
// @Param: HGT_GATE // @Param: HGT_GATE
// @DisplayName: Height measurement gate size // @DisplayName: Height measurement gate size
// @Description: This parameter sets the number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. // @Description: This parameter sets the number of standard deviations applied to the height measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
// @Range: 1 - 100 // @Range: 1 100
// @Increment: 1 // @Increment: 1
// @User: advanced // @User: Advanced
AP_GROUPINFO("HGT_GATE", 19, NavEKF, _hgtInnovGate, HGT_GATE_DEFAULT), AP_GROUPINFO("HGT_GATE", 19, NavEKF, _hgtInnovGate, HGT_GATE_DEFAULT),
// @Param: MAG_GATE // @Param: MAG_GATE
// @DisplayName: Magnetometer measurement gate size // @DisplayName: Magnetometer measurement gate size
// @Description: This parameter sets the number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. // @Description: This parameter sets the number of standard deviations applied to the magnetometer measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
// @Range: 1 - 100 // @Range: 1 100
// @Increment: 1 // @Increment: 1
// @User: advanced // @User: Advanced
AP_GROUPINFO("MAG_GATE", 20, NavEKF, _magInnovGate, MAG_GATE_DEFAULT), AP_GROUPINFO("MAG_GATE", 20, NavEKF, _magInnovGate, MAG_GATE_DEFAULT),
// @Param: EAS_GATE // @Param: EAS_GATE
// @DisplayName: Airspeed measurement gate size // @DisplayName: Airspeed measurement gate size
// @Description: This parameter sets the number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted. // @Description: This parameter sets the number of standard deviations applied to the airspeed measurement innovation consistency check. Decreasing it makes it more likely that good measurements will be rejected. Increasing it makes it more likely that bad measurements will be accepted.
// @Range: 1 - 100 // @Range: 1 100
// @Increment: 1 // @Increment: 1
// @User: advanced // @User: Advanced
AP_GROUPINFO("EAS_GATE", 21, NavEKF, _tasInnovGate, 10), AP_GROUPINFO("EAS_GATE", 21, NavEKF, _tasInnovGate, 10),
// @Param: MAG_CAL // @Param: MAG_CAL
@ -282,23 +282,23 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @Description: EKF_MAG_CAL = 0 enables calibration based on flying speed and altitude and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration based on manoeuvre level and is the default setting for Copter and Rover users. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition and is recommended if in-flight magnetometer calibration is unreliable. // @Description: EKF_MAG_CAL = 0 enables calibration based on flying speed and altitude and is the default setting for Plane users. EKF_MAG_CAL = 1 enables calibration based on manoeuvre level and is the default setting for Copter and Rover users. EKF_MAG_CAL = 2 prevents magnetometer calibration regardless of flight condition and is recommended if in-flight magnetometer calibration is unreliable.
// @Values: 0:Speed and Height,1:Acceleration,2:Never // @Values: 0:Speed and Height,1:Acceleration,2:Never
// @Increment: 1 // @Increment: 1
// @User: advanced // @User: Advanced
AP_GROUPINFO("MAG_CAL", 22, NavEKF, _magCal, MAG_CAL_DEFAULT), AP_GROUPINFO("MAG_CAL", 22, NavEKF, _magCal, MAG_CAL_DEFAULT),
// @Param: GLITCH_ACCEL // @Param: GLITCH_ACCEL
// @DisplayName: GPS glitch accel gate size (cm/s^2) // @DisplayName: GPS glitch accel gate size (cm/s^2)
// @Description: This parameter controls the maximum amount of difference in horizontal acceleration between the value predicted by the filter and the value measured by the GPS before the GPS position data is rejected. If this value is set too low, then valid GPS data will be regularly discarded, and the position accuracy will degrade. If this parameter is set too high, then large GPS glitches will cause large rapid changes in position. // @Description: This parameter controls the maximum amount of difference in horizontal acceleration between the value predicted by the filter and the value measured by the GPS before the GPS position data is rejected. If this value is set too low, then valid GPS data will be regularly discarded, and the position accuracy will degrade. If this parameter is set too high, then large GPS glitches will cause large rapid changes in position.
// @Range: 100 - 500 // @Range: 100 500
// @Increment: 50 // @Increment: 50
// @User: advanced // @User: Advanced
AP_GROUPINFO("GLITCH_ACCEL", 23, NavEKF, _gpsGlitchAccelMax, GLITCH_ACCEL_DEFAULT), AP_GROUPINFO("GLITCH_ACCEL", 23, NavEKF, _gpsGlitchAccelMax, GLITCH_ACCEL_DEFAULT),
// @Param: GLITCH_RAD // @Param: GLITCH_RAD
// @DisplayName: GPS glitch radius gate size (m) // @DisplayName: GPS glitch radius gate size (m)
// @Description: This parameter controls the maximum amount of difference in horizontal position (in m) between the value predicted by the filter and the value measured by the GPS before the long term glitch protection logic is activated and an offset is applied to the GPS measurement to compensate. Position steps smaller than this value will be temporarily ignored, but will then be accepted and the filter will move to the new position. Position steps larger than this value will be ignored initially, but the filter will then apply an offset to the GPS position measurement. // @Description: This parameter controls the maximum amount of difference in horizontal position (in m) between the value predicted by the filter and the value measured by the GPS before the long term glitch protection logic is activated and an offset is applied to the GPS measurement to compensate. Position steps smaller than this value will be temporarily ignored, but will then be accepted and the filter will move to the new position. Position steps larger than this value will be ignored initially, but the filter will then apply an offset to the GPS position measurement.
// @Range: 10 - 50 // @Range: 10 50
// @Increment: 5 // @Increment: 5
// @User: advanced // @User: Advanced
AP_GROUPINFO("GLITCH_RAD", 24, NavEKF, _gpsGlitchRadiusMax, GLITCH_RADIUS_DEFAULT), AP_GROUPINFO("GLITCH_RAD", 24, NavEKF, _gpsGlitchRadiusMax, GLITCH_RADIUS_DEFAULT),
AP_GROUPEND AP_GROUPEND