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AP_NavEKF: tweak parameters based on randys copter log

This commit is contained in:
Andrew Tridgell 2014-01-04 18:09:08 +11:00
parent 9e3bf685c2
commit 9b53db66cb
1 changed files with 5 additions and 5 deletions
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10
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -27,7 +27,7 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) :
_baro(baro), _baro(baro),
useAirspeed(true), useAirspeed(true),
useCompass(true), useCompass(true),
fusionModeGPS(0), // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity fusionModeGPS(1), // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
covTimeStepMax(0.07f), // maximum time (sec) between covariance prediction updates covTimeStepMax(0.07f), // maximum time (sec) between covariance prediction updates
covDelAngMax(0.05f), // maximum delta angle between covariance prediction updates covDelAngMax(0.05f), // maximum delta angle between covariance prediction updates
yawVarScale(2.0f), // scale factor applied to yaw gyro errors when on ground yawVarScale(2.0f), // scale factor applied to yaw gyro errors when on ground
@ -49,10 +49,10 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) :
#endif #endif
{ {
// Tuning parameters // Tuning parameters
_gpsHorizVelVar = 0.04f; // GPS horizontal velocity variance (m/s)^2 _gpsHorizVelVar = 0.5f; // GPS horizontal velocity variance (m/s)^2
_gpsVertVelVar = 0.08f; // GPS vertical velocity variance (m/s)^2 _gpsVertVelVar = 0.5f; // GPS vertical velocity variance (m/s)^2
_gpsHorizPosVar = 4.0f; // GPS horizontal position variance m^2 _gpsHorizPosVar = 2.0f; // GPS horizontal position variance m^2
_gpsVertPosVar = 4.0f; // GPS or Baro vertical position variance m^2 _gpsVertPosVar = 0.04f; // GPS or Baro vertical position variance m^2
_gpsVelVarAccScale = 0.2f; // scale factor applied to velocity variance due to Vdot _gpsVelVarAccScale = 0.2f; // scale factor applied to velocity variance due to Vdot
_gpsPosVarAccScale = 0.2f; // scale factor applied to position variance due to Vdot _gpsPosVarAccScale = 0.2f; // scale factor applied to position variance due to Vdot
_magVar = 0.0025f; // magnetometer measurement variance Gauss^2 _magVar = 0.0025f; // magnetometer measurement variance Gauss^2