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AP_NavEKF3: Revert IMU and wind speed process noise parameter defaults 

These give noisier state estimates, but are more robust to rapid changes in IMU biases.
TODO implement a means of using the modified parameters when there are more than one EKF instance running with IMU's that are sampling at a higher rate.
This commit is contained in:
Paul Riseborough 2021-07-22 12:24:01 +10:00 committed by Randy Mackay
parent ad15d62941
commit b2c24a0b58
1 changed files with 20 additions and 20 deletions
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40
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -22,10 +22,10 @@
#define POSNE_M_NSE_DEFAULT 0.5f
#define ALT_M_NSE_DEFAULT 2.0f
#define MAG_M_NSE_DEFAULT 0.05f
#define GYRO_P_NSE_DEFAULT 1.0E-02f
#define ACC_P_NSE_DEFAULT 2.5E-01f
#define GBIAS_P_NSE_DEFAULT 3.0E-04f
#define ABIAS_P_NSE_DEFAULT 1.0E-03f
#define GYRO_P_NSE_DEFAULT 1.5E-02f
#define ACC_P_NSE_DEFAULT 3.5E-01f
#define GBIAS_P_NSE_DEFAULT 1.0E-03f
#define ABIAS_P_NSE_DEFAULT 3.0E-03f
#define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f
#define VEL_I_GATE_DEFAULT 500
@ -39,7 +39,7 @@
#define FLOW_I_GATE_DEFAULT 300
#define CHECK_SCALER_DEFAULT 100
#define FLOW_USE_DEFAULT 1
#define WIND_P_NSE_DEFAULT 0.5
#define WIND_P_NSE_DEFAULT 0.2
#elif APM_BUILD_TYPE(APM_BUILD_Rover)
// rover defaults
@ -48,10 +48,10 @@
#define POSNE_M_NSE_DEFAULT 0.5f
#define ALT_M_NSE_DEFAULT 2.0f
#define MAG_M_NSE_DEFAULT 0.05f
#define GYRO_P_NSE_DEFAULT 1.0E-02f
#define ACC_P_NSE_DEFAULT 2.5E-01f
#define GBIAS_P_NSE_DEFAULT 3.0E-04f
#define ABIAS_P_NSE_DEFAULT 1.0E-03f
#define GYRO_P_NSE_DEFAULT 1.5E-02f
#define ACC_P_NSE_DEFAULT 3.5E-01f
#define GBIAS_P_NSE_DEFAULT 1.0E-03f
#define ABIAS_P_NSE_DEFAULT 3.0E-03f
#define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f
#define VEL_I_GATE_DEFAULT 500
@ -65,7 +65,7 @@
#define FLOW_I_GATE_DEFAULT 300
#define CHECK_SCALER_DEFAULT 100
#define FLOW_USE_DEFAULT 1
#define WIND_P_NSE_DEFAULT 0.25
#define WIND_P_NSE_DEFAULT 0.1
#elif APM_BUILD_TYPE(APM_BUILD_ArduPlane)
// plane defaults
@ -74,10 +74,10 @@
#define POSNE_M_NSE_DEFAULT 0.5f
#define ALT_M_NSE_DEFAULT 3.0f
#define MAG_M_NSE_DEFAULT 0.05f
#define GYRO_P_NSE_DEFAULT 1.0E-02f
#define ACC_P_NSE_DEFAULT 2.5E-01f
#define GBIAS_P_NSE_DEFAULT 3.0E-04f
#define ABIAS_P_NSE_DEFAULT 1.0E-03f
#define GYRO_P_NSE_DEFAULT 1.5E-02f
#define ACC_P_NSE_DEFAULT 3.5E-01f
#define GBIAS_P_NSE_DEFAULT 1.0E-03f
#define ABIAS_P_NSE_DEFAULT 3.0E-03f
#define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f
#define VEL_I_GATE_DEFAULT 500
@ -91,7 +91,7 @@
#define FLOW_I_GATE_DEFAULT 500
#define CHECK_SCALER_DEFAULT 150
#define FLOW_USE_DEFAULT 2
#define WIND_P_NSE_DEFAULT 0.25
#define WIND_P_NSE_DEFAULT 0.1
#else
// build type not specified, use copter defaults
@ -100,10 +100,10 @@
#define POSNE_M_NSE_DEFAULT 0.5f
#define ALT_M_NSE_DEFAULT 2.0f
#define MAG_M_NSE_DEFAULT 0.05f
#define GYRO_P_NSE_DEFAULT 1.0E-02f
#define ACC_P_NSE_DEFAULT 2.5E-01f
#define GBIAS_P_NSE_DEFAULT 3.0E-04f
#define ABIAS_P_NSE_DEFAULT 1.0E-03f
#define GYRO_P_NSE_DEFAULT 1.5E-02f
#define ACC_P_NSE_DEFAULT 3.5E-01f
#define GBIAS_P_NSE_DEFAULT 1.0E-03f
#define ABIAS_P_NSE_DEFAULT 3.0E-03f
#define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f
#define VEL_I_GATE_DEFAULT 500
@ -117,7 +117,7 @@
#define FLOW_I_GATE_DEFAULT 300
#define CHECK_SCALER_DEFAULT 100
#define FLOW_USE_DEFAULT 1
#define WIND_P_NSE_DEFAULT 0.5
#define WIND_P_NSE_DEFAULT 0.1
#endif // APM_BUILD_DIRECTORY