mirror of https://github.com/ArduPilot/ardupilot
AP_NavEKF : Add initial parameter defaults for Copter, Rover and Plane
This commit is contained in:
priseborough
Andrew Tridgell
parent
14671d0bcd
commit
e1819bb53a
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@ -27,15 +27,60 @@
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*/
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#if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
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// copter defaults
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#define VELNE_NOISE_DEFAULT 0.30f
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#define VELNE_NOISE_DEFAULT 0.5f
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#define VELD_NOISE_DEFAULT 0.7f
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#define POSNE_NOISE_DEFAULT 0.5f
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#define ALT_NOISE_DEFAULT 1.0f
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#define MAG_NOISE_DEFAULT 0.05f
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#define GYRO_PNOISE_DEFAULT 0.015f
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#define ACC_PNOISE_DEFAULT 0.25f
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#define GBIAS_PNOISE_DEFAULT 1E-07f
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#define ABIAS_PNOISE_DEFAULT 0.0002f
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#define MAGE_PNOISE_DEFAULT 0.0003f
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#define MAGB_PNOISE_DEFAULT 0.0003f
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#define VEL_GATE_DEFAULT 5
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#define POS_GATE_DEFAULT 5
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#define HGT_GATE_DEFAULT 5
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#define MAG_GATE_DEFAULT 3
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#define MAG_CAL_DEFAULT 1
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#elif APM_BUILD_TYPE(APM_BUILD_APMrover2)
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// rover defaults
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#define VELNE_NOISE_DEFAULT 0.30f
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#define VELNE_NOISE_DEFAULT 0.5f
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#define VELD_NOISE_DEFAULT 0.7f
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#define POSNE_NOISE_DEFAULT 0.5f
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#define ALT_NOISE_DEFAULT 1.0f
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#define MAG_NOISE_DEFAULT 0.05f
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#define GYRO_PNOISE_DEFAULT 0.015f
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#define ACC_PNOISE_DEFAULT 0.25f
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#define GBIAS_PNOISE_DEFAULT 1E-07f
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#define ABIAS_PNOISE_DEFAULT 0.0002f
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#define MAGE_PNOISE_DEFAULT 0.0003f
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#define MAGB_PNOISE_DEFAULT 0.0003f
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#define VEL_GATE_DEFAULT 5
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#define POS_GATE_DEFAULT 5
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#define HGT_GATE_DEFAULT 5
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#define MAG_GATE_DEFAULT 3
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#define MAG_CAL_DEFAULT 1
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#else
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// generic defaults (and for plane)
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#define VELNE_NOISE_DEFAULT 0.30f
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#define VELNE_NOISE_DEFAULT 0.3f
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#define VELD_NOISE_DEFAULT 0.5f
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#define POSNE_NOISE_DEFAULT 0.5f
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#define ALT_NOISE_DEFAULT 0.5f
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#define MAG_NOISE_DEFAULT 0.05f
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#define GYRO_PNOISE_DEFAULT 0.015f
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#define ACC_PNOISE_DEFAULT 0.25f
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#define GBIAS_PNOISE_DEFAULT 1E-07f
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#define ABIAS_PNOISE_DEFAULT 0.0002f
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#define MAGE_PNOISE_DEFAULT 0.0003f
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#define MAGB_PNOISE_DEFAULT 0.0003f
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#define VEL_GATE_DEFAULT 5
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#define POS_GATE_DEFAULT 10
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#define HGT_GATE_DEFAULT 10
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#define MAG_GATE_DEFAULT 3
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#define MAG_CAL_DEFAULT 0
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#endif // APM_BUILD_DIRECTORY
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@ -61,7 +106,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
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// @Range: 0.05 - 5.0
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// @Increment: 0.05
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// @User: advanced
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AP_GROUPINFO("VELD_NOISE", 1, NavEKF, _gpsVertVelNoise, 0.30f),
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AP_GROUPINFO("VELD_NOISE", 1, NavEKF, _gpsVertVelNoise, VELD_NOISE_DEFAULT),
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// @Param: POSNE_NOISE
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// @DisplayName: GPS horizontal position measurement noise (m)
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@ -69,7 +114,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
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// @Range: 0.1 - 10.0
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// @Increment: 0.1
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// @User: advanced
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AP_GROUPINFO("POSNE_NOISE", 2, NavEKF, _gpsHorizPosNoise, 0.50f),
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AP_GROUPINFO("POSNE_NOISE", 2, NavEKF, _gpsHorizPosNoise, POSNE_NOISE_DEFAULT),
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// @Param: ALT_NOISE
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// @DisplayName: Altitude measurement noise (m)
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@ -77,7 +122,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
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// @Range: 0.1 - 10.0
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// @Increment: 0.1
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// @User: advanced
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AP_GROUPINFO("ALT_NOISE", 3, NavEKF, _baroAltNoise, 0.50f),
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AP_GROUPINFO("ALT_NOISE", 3, NavEKF, _baroAltNoise, ALT_NOISE_DEFAULT),
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// @Param: MAG_NOISE
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// @DisplayName: Magntometer measurement noise (Gauss)
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@ -85,7 +130,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
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// @Range: 0.01 - 0.5
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// @Increment: 0.01
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// @User: advanced
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AP_GROUPINFO("MAG_NOISE", 4, NavEKF, _magNoise, 0.05f),
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AP_GROUPINFO("MAG_NOISE", 4, NavEKF, _magNoise, MAG_NOISE_DEFAULT),
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// @Param: EAS_NOISE
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// @DisplayName: Equivalent airspeed measurement noise (m/s)
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@ -117,7 +162,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
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// @Range: 0.001 - 0.05
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// @Increment: 0.001
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// @User: advanced
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AP_GROUPINFO("GYRO_PNOISE", 8, NavEKF, _gyrNoise, 0.015f),
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AP_GROUPINFO("GYRO_PNOISE", 8, NavEKF, _gyrNoise, GYRO_PNOISE_DEFAULT),
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// @Param: ACC_PNOISE
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// @DisplayName: Accelerometer noise (m/s^2)
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@ -125,35 +170,35 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
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// @Range: 0.05 - 1.0 AP_Float _gpsNEVelVarAccScale; // scale factor applied to NE velocity measurement variance due to Vdot
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// @Increment: 0.01
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// @User: advanced
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AP_GROUPINFO("ACC_PNOISE", 9, NavEKF, _accNoise, 0.25f),
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AP_GROUPINFO("ACC_PNOISE", 9, NavEKF, _accNoise, ACC_PNOISE_DEFAULT),
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// @Param: GBIAS_PNOISE
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// @DisplayName: Rate gyro bias state process noise (rad/s)
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// @Description: This noise controls the growth of gyro bias state error estimates. Increasing it makes rate gyro bias estimation faster and noisier.
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// @Range: 0.0000001 - 0.00001
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// @User: advanced
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AP_GROUPINFO("GBIAS_PNOISE", 10, NavEKF, _gyroBiasProcessNoise, 1.0e-7f),
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AP_GROUPINFO("GBIAS_PNOISE", 10, NavEKF, _gyroBiasProcessNoise, GBIAS_PNOISE_DEFAULT),
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// @Param: ABIAS_PNOISE
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// @DisplayName: Accelerometer bias state process noise (m/s^2)
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// @Description: This noise controls the growth of the vertical acelerometer bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.
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// @Range: 0.0002 - 0.001
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// @User: advanced
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AP_GROUPINFO("ABIAS_PNOISE", 11, NavEKF, _accelBiasProcessNoise, 2.0e-4f),
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AP_GROUPINFO("ABIAS_PNOISE", 11, NavEKF, _accelBiasProcessNoise, ABIAS_PNOISE_DEFAULT),
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// @Param: MAGE_PNOISE
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// @DisplayName: Earth magnetic field states process noise (gauss/s)
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// @Description: This noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field bias estimation faster and noisier.
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// @Range: 0.0001 - 0.01
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// @User: advanced
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AP_GROUPINFO("MAGE_PNOISE", 12, NavEKF, _magEarthProcessNoise, 3.0e-4f),
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AP_GROUPINFO("MAGE_PNOISE", 12, NavEKF, _magEarthProcessNoise, MAGE_PNOISE_DEFAULT),
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// @Param: MAGB_PNOISE
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// @DisplayName: Body magnetic field states process noise (gauss/s)
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// @Description: This noise controls the growth of body magnetic field state error estimates. Increasing it makes compass offset estimation faster and noisier.
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// @Range: 0.0001 - 0.01
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// @User: advanced
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AP_GROUPINFO("MAGB_PNOISE", 13, NavEKF, _magBodyProcessNoise, 3.0e-4f),
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AP_GROUPINFO("MAGB_PNOISE", 13, NavEKF, _magBodyProcessNoise, MAGB_PNOISE_DEFAULT),
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// @Param: VEL_DELAY
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// @DisplayName: GPS velocity measurement delay (msec)
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@ -185,7 +230,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
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// @Range: 1 - 100
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// @Increment: 1
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// @User: advanced
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AP_GROUPINFO("VEL_GATE", 17, NavEKF, _gpsVelInnovGate, 5),
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AP_GROUPINFO("VEL_GATE", 17, NavEKF, _gpsVelInnovGate, VEL_GATE_DEFAULT),
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// @Param: POS_GATE
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// @DisplayName: GPS position measurement gate size
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@ -193,7 +238,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
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// @Range: 1 - 100
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// @Increment: 1
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// @User: advanced
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AP_GROUPINFO("POS_GATE", 18, NavEKF, _gpsPosInnovGate, 5),
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AP_GROUPINFO("POS_GATE", 18, NavEKF, _gpsPosInnovGate, POS_GATE_DEFAULT),
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// @Param: HGT_GATE
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// @DisplayName: Height measurement gate size
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@ -201,7 +246,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
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// @Range: 1 - 100
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// @Increment: 1
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// @User: advanced
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AP_GROUPINFO("HGT_GATE", 19, NavEKF, _hgtInnovGate, 10),
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AP_GROUPINFO("HGT_GATE", 19, NavEKF, _hgtInnovGate, HGT_GATE_DEFAULT),
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// @Param: MAG_GATE
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// @DisplayName: Magnetometer measurement gate size
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@ -209,7 +254,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
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// @Range: 1 - 100
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// @Increment: 1
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// @User: advanced
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AP_GROUPINFO("MAG_GATE", 20, NavEKF, _magInnovGate, 3),
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AP_GROUPINFO("MAG_GATE", 20, NavEKF, _magInnovGate, MAG_GATE_DEFAULT),
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// @Param: EAS_GATE
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// @DisplayName: Airspeed measurement gate size
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@ -225,7 +270,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
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// @Range: 0 - 1
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// @Increment: 1
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// @User: advanced
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AP_GROUPINFO("MAG_CAL", 22, NavEKF, _magCal, 0),
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AP_GROUPINFO("MAG_CAL", 22, NavEKF, _magCal, MAG_CAL_DEFAULT),
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AP_GROUPEND
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};
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