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AC_PrecLand: add ACC_P_NSE parameter

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This commit is contained in:
Randy Mackay 2017-03-16 17:06:05 +09:00
parent 5dd5c22c39
commit 8f1d122766
2 changed files with 9 additions and 3 deletions
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11
libraries/AC_PrecLand/AC_PrecLand.cpp
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@ -57,7 +57,12 @@ const AP_Param::GroupInfo AC_PrecLand::var_info[] = {
// @User: Advanced // @User: Advanced
AP_GROUPINFO("EST_TYPE", 5, AC_PrecLand, _estimator_type, 1), AP_GROUPINFO("EST_TYPE", 5, AC_PrecLand, _estimator_type, 1),
// 6 RESERVED for ACC_NSE // @Param: ACC_P_NSE
// @DisplayName: Kalman Filter Accelerometer Noise
// @Description: Kalman Filter Accelerometer Noise, higher values weight the input from the camera more, accels less
// @Range: 0.5 5
// @User: Advanceds
AP_GROUPINFO("ACC_P_NSE", 6, AC_PrecLand, _accel_noise, 2.5f),
AP_GROUPEND AP_GROUPEND
}; };
@ -249,8 +254,8 @@ void AC_PrecLand::run_estimator(float rangefinder_alt_m, bool rangefinder_alt_va
const float& dt = inertial_data_delayed.dt; const float& dt = inertial_data_delayed.dt;
const Vector3f& vehicleDelVel = inertial_data_delayed.correctedVehicleDeltaVelocityNED; const Vector3f& vehicleDelVel = inertial_data_delayed.correctedVehicleDeltaVelocityNED;
_ekf_x.predict(dt, -vehicleDelVel.x, 0.5f*dt); _ekf_x.predict(dt, -vehicleDelVel.x, _accel_noise*dt);
_ekf_y.predict(dt, -vehicleDelVel.y, 0.5f*dt); _ekf_y.predict(dt, -vehicleDelVel.y, _accel_noise*dt);
} }
// Update if a new LOS measurement is available // Update if a new LOS measurement is available

1
libraries/AC_PrecLand/AC_PrecLand.h
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@ -108,6 +108,7 @@ private:
AP_Float _yaw_align; // Yaw angle from body x-axis to sensor x-axis. AP_Float _yaw_align; // Yaw angle from body x-axis to sensor x-axis.
AP_Float _land_ofs_cm_x; // Desired landing position of the camera forward of the target in vehicle body frame AP_Float _land_ofs_cm_x; // Desired landing position of the camera forward of the target in vehicle body frame
AP_Float _land_ofs_cm_y; // Desired landing position of the camera right of the target in vehicle body frame AP_Float _land_ofs_cm_y; // Desired landing position of the camera right of the target in vehicle body frame
AP_Float _accel_noise; // accelometer process noise
uint32_t _last_update_ms; // system time in millisecond when update was last called uint32_t _last_update_ms; // system time in millisecond when update was last called
bool _target_acquired; // true if target has been seen recently bool _target_acquired; // true if target has been seen recently