Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

AP_NavEKF3: initialise EKF3 constants in declaration not constructor

This commit is contained in:
Peter Barker 2018-04-06 22:39:24 +10:00 committed by Randy Mackay
parent d219540554
commit d38ff1dd2c
2 changed files with 27 additions and 55 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

28
libraries/AP_NavEKF3/AP_NavEKF3.cpp
View File

@ -582,36 +582,8 @@ const AP_Param::GroupInfo NavEKF3::var_info[] = {
NavEKF3::NavEKF3(const AP_AHRS *ahrs, const RangeFinder &rng) :
_ahrs(ahrs),
_rng(rng),
gpsNEVelVarAccScale(0.05f), // Scale factor applied to horizontal velocity measurement variance due to manoeuvre acceleration - used when GPS doesn't report speed error
gpsDVelVarAccScale(0.07f), // Scale factor applied to vertical velocity measurement variance due to manoeuvre acceleration - used when GPS doesn't report speed error
gpsPosVarAccScale(0.05f), // Scale factor applied to horizontal position measurement variance due to manoeuvre acceleration
magDelay_ms(60), // Magnetometer measurement delay (msec)
tasDelay_ms(100), // Airspeed measurement delay (msec)
tiltDriftTimeMax_ms(15000), // Maximum number of ms allowed without any form of tilt aiding (GPS, flow, TAS, etc)
posRetryTimeUseVel_ms(10000), // Position aiding retry time with velocity measurements (msec)
posRetryTimeNoVel_ms(7000), // Position aiding retry time without velocity measurements (msec)
hgtRetryTimeMode0_ms(10000), // Height retry time with vertical velocity measurement (msec)
hgtRetryTimeMode12_ms(5000), // Height retry time without vertical velocity measurement (msec)
tasRetryTime_ms(5000), // True airspeed timeout and retry interval (msec)
magFailTimeLimit_ms(10000), // number of msec before a magnetometer failing innovation consistency checks is declared failed (msec)
magVarRateScale(0.005f), // scale factor applied to magnetometer variance due to angular rate and measurement timing jitter. Assume timing jitter of 10msec
gyroBiasNoiseScaler(2.0f), // scale factor applied to imu gyro bias learning before the vehicle is armed
hgtAvg_ms(100), // average number of msec between height measurements
betaAvg_ms(100), // average number of msec between synthetic sideslip measurements
covTimeStepMax(0.1f), // maximum time (sec) between covariance prediction updates
covDelAngMax(0.05f), // maximum delta angle between covariance prediction updates
DCM33FlowMin(0.71f), // If Tbn(3,3) is less than this number, optical flow measurements will not be fused as tilt is too high.
fScaleFactorPnoise(1e-10f), // Process noise added to focal length scale factor state variance at each time step
flowTimeDeltaAvg_ms(100), // average interval between optical flow measurements (msec)
flowIntervalMax_ms(100), // maximum allowable time between flow fusion events
gndEffectTimeout_ms(1000), // time in msec that baro ground effect compensation will timeout after initiation
gndEffectBaroScaler(4.0f), // scaler applied to the barometer observation variance when operating in ground effect
gndGradientSigma(50), // RMS terrain gradient percentage assumed by the terrain height estimation
fusionTimeStep_ms(10), // The minimum number of msec between covariance prediction and fusion operations
sensorIntervalMin_ms(50), // The minimum allowed time between measurements from any non-IMU sensor (msec)
runCoreSelection(false), // true when the default primary core has stabilised after startup and core selection can run
inhibitGpsVertVelUse(false) // true when GPS vertical velocity use is prohibited
{
AP_Param::setup_object_defaults(this, var_info);
}

54
libraries/AP_NavEKF3/AP_NavEKF3.h
View File

@ -419,33 +419,33 @@ private:
// Tuning parameters
const float gpsNEVelVarAccScale; // Scale factor applied to NE velocity measurement variance due to manoeuvre acceleration
const float gpsDVelVarAccScale; // Scale factor applied to vertical velocity measurement variance due to manoeuvre acceleration
const float gpsPosVarAccScale; // Scale factor applied to horizontal position measurement variance due to manoeuvre acceleration
const uint16_t magDelay_ms; // Magnetometer measurement delay (msec)
const uint16_t tasDelay_ms; // Airspeed measurement delay (msec)
const uint16_t tiltDriftTimeMax_ms; // Maximum number of ms allowed without any form of tilt aiding (GPS, flow, TAS, etc)
const uint16_t posRetryTimeUseVel_ms; // Position aiding retry time with velocity measurements (msec)
const uint16_t posRetryTimeNoVel_ms; // Position aiding retry time without velocity measurements (msec)
const uint16_t hgtRetryTimeMode0_ms; // Height retry time with vertical velocity measurement (msec)
const uint16_t hgtRetryTimeMode12_ms; // Height retry time without vertical velocity measurement (msec)
const uint16_t tasRetryTime_ms; // True airspeed timeout and retry interval (msec)
const uint32_t magFailTimeLimit_ms; // number of msec before a magnetometer failing innovation consistency checks is declared failed (msec)
const float magVarRateScale; // scale factor applied to magnetometer variance due to angular rate
const float gyroBiasNoiseScaler; // scale factor applied to gyro bias state process noise when on ground
const uint16_t hgtAvg_ms; // average number of msec between height measurements
const uint16_t betaAvg_ms; // average number of msec between synthetic sideslip measurements
const float covTimeStepMax; // maximum time (sec) between covariance prediction updates
const float covDelAngMax; // maximum delta angle between covariance prediction updates
const float DCM33FlowMin; // If Tbn(3,3) is less than this number, optical flow measurements will not be fused as tilt is too high.
const float fScaleFactorPnoise; // Process noise added to focal length scale factor state variance at each time step
const uint8_t flowTimeDeltaAvg_ms; // average interval between optical flow measurements (msec)
const uint32_t flowIntervalMax_ms; // maximum allowable time between flow fusion events
const uint16_t gndEffectTimeout_ms; // time in msec that ground effect mode is active after being activated
const float gndEffectBaroScaler; // scaler applied to the barometer observation variance when ground effect mode is active
const uint8_t gndGradientSigma; // RMS terrain gradient percentage assumed by the terrain height estimation
const uint16_t fusionTimeStep_ms; // The minimum time interval between covariance predictions and measurement fusions in msec
const uint8_t sensorIntervalMin_ms; // The minimum allowed time between measurements from any non-IMU sensor (msec)
const float gpsNEVelVarAccScale = 0.05f; // Scale factor applied to NE velocity measurement variance due to manoeuvre acceleration
const float gpsDVelVarAccScale = 0.07f; // Scale factor applied to vertical velocity measurement variance due to manoeuvre acceleration
const float gpsPosVarAccScale = 0.05f; // Scale factor applied to horizontal position measurement variance due to manoeuvre acceleration
const uint16_t magDelay_ms = 60; // Magnetometer measurement delay (msec)
const uint16_t tasDelay_ms = 100; // Airspeed measurement delay (msec)
const uint16_t tiltDriftTimeMax_ms = 15000; // Maximum number of ms allowed without any form of tilt aiding (GPS, flow, TAS, etc)
const uint16_t posRetryTimeUseVel_ms = 10000; // Position aiding retry time with velocity measurements (msec)
const uint16_t posRetryTimeNoVel_ms = 7000; // Position aiding retry time without velocity measurements (msec)
const uint16_t hgtRetryTimeMode0_ms = 10000; // Height retry time with vertical velocity measurement (msec)
const uint16_t hgtRetryTimeMode12_ms = 5000; // Height retry time without vertical velocity measurement (msec)
const uint16_t tasRetryTime_ms = 5000; // True airspeed timeout and retry interval (msec)
const uint32_t magFailTimeLimit_ms = 10000; // number of msec before a magnetometer failing innovation consistency checks is declared failed (msec)
const float magVarRateScale = 0.005f; // scale factor applied to magnetometer variance due to angular rate
const float gyroBiasNoiseScaler = 2.0f; // scale factor applied to gyro bias state process noise when on ground
const uint16_t hgtAvg_ms = 100; // average number of msec between height measurements
const uint16_t betaAvg_ms = 100; // average number of msec between synthetic sideslip measurements
const float covTimeStepMax = 0.1f; // maximum time (sec) between covariance prediction updates
const float covDelAngMax = 0.05f; // maximum delta angle between covariance prediction updates
const float DCM33FlowMin = 0.71f; // If Tbn(3,3) is less than this number, optical flow measurements will not be fused as tilt is too high.
const float fScaleFactorPnoise = 1e-10f; // Process noise added to focal length scale factor state variance at each time step
const uint8_t flowTimeDeltaAvg_ms = 100; // average interval between optical flow measurements (msec)
const uint32_t flowIntervalMax_ms = 100; // maximum allowable time between flow fusion events
const uint16_t gndEffectTimeout_ms = 1000; // time in msec that ground effect mode is active after being activated
const float gndEffectBaroScaler = 4.0f; // scaler applied to the barometer observation variance when ground effect mode is active
const uint8_t gndGradientSigma = 50; // RMS terrain gradient percentage assumed by the terrain height estimation
const uint16_t fusionTimeStep_ms = 10; // The minimum time interval between covariance predictions and measurement fusions in msec
const uint8_t sensorIntervalMin_ms = 50; // The minimum allowed time between measurements from any non-IMU sensor (msec)
struct {
bool enabled:1;