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AP_NavEKF2: Adjust output observer tuning 

Use more accurate method by default.
Reduce overshoot on quaternion tracking
This commit is contained in:
Paul Riseborough 2016-06-21 16:38:04 +10:00 committed by Andrew Tridgell
parent 5c59922574
commit e117bedf6a
2 changed files with 2 additions and 2 deletions
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2
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -458,7 +458,7 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = {
// @Range: -1 100 // @Range: -1 100
// @Increment: 10 // @Increment: 10
// @User: Advanced // @User: Advanced
AP_GROUPINFO("TAU_OUTPUT", 39, NavEKF2, _tauVelPosOutput, -1), AP_GROUPINFO("TAU_OUTPUT", 39, NavEKF2, _tauVelPosOutput, 50),
// @Param: MAGE_P_NSE // @Param: MAGE_P_NSE
// @DisplayName: Earth magnetic field process noise (gauss/s) // @DisplayName: Earth magnetic field process noise (gauss/s)

2
libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
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@ -628,7 +628,7 @@ void NavEKF2_core::calcOutputStates()
// adjust for changes in time delay to maintain consistent damping ratio of ~0.7 // adjust for changes in time delay to maintain consistent damping ratio of ~0.7
float timeDelay = 1e-3f * (float)(imuDataNew.time_ms - imuDataDelayed.time_ms); float timeDelay = 1e-3f * (float)(imuDataNew.time_ms - imuDataDelayed.time_ms);
timeDelay = fmaxf(timeDelay, dtIMUavg); timeDelay = fmaxf(timeDelay, dtIMUavg);
float errorGain = 0.5f / timeDelay; float errorGain = 0.45f / timeDelay;
// calculate a corrrection to the delta angle // calculate a corrrection to the delta angle
// that will cause the INS to track the EKF quaternions // that will cause the INS to track the EKF quaternions