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AP_NavEKF : Add initial parameter defaults for Copter, Rover and Plane

This commit is contained in:
priseborough 2014-03-28 17:12:38 +11:00 committed by Andrew Tridgell
parent 14671d0bcd
commit e1819bb53a
1 changed files with 63 additions and 18 deletions
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81
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -27,15 +27,60 @@
*/ */
#if APM_BUILD_TYPE(APM_BUILD_ArduCopter) #if APM_BUILD_TYPE(APM_BUILD_ArduCopter)
// copter defaults // copter defaults
#define VELNE_NOISE_DEFAULT 0.30f #define VELNE_NOISE_DEFAULT 0.5f
#define VELD_NOISE_DEFAULT 0.7f
#define POSNE_NOISE_DEFAULT 0.5f
#define ALT_NOISE_DEFAULT 1.0f
#define MAG_NOISE_DEFAULT 0.05f
#define GYRO_PNOISE_DEFAULT 0.015f
#define ACC_PNOISE_DEFAULT 0.25f
#define GBIAS_PNOISE_DEFAULT 1E-07f
#define ABIAS_PNOISE_DEFAULT 0.0002f
#define MAGE_PNOISE_DEFAULT 0.0003f
#define MAGB_PNOISE_DEFAULT 0.0003f
#define VEL_GATE_DEFAULT 5
#define POS_GATE_DEFAULT 5
#define HGT_GATE_DEFAULT 5
#define MAG_GATE_DEFAULT 3
#define MAG_CAL_DEFAULT 1
#elif APM_BUILD_TYPE(APM_BUILD_APMrover2) #elif APM_BUILD_TYPE(APM_BUILD_APMrover2)
// rover defaults // rover defaults
#define VELNE_NOISE_DEFAULT 0.30f #define VELNE_NOISE_DEFAULT 0.5f
#define VELD_NOISE_DEFAULT 0.7f
#define POSNE_NOISE_DEFAULT 0.5f
#define ALT_NOISE_DEFAULT 1.0f
#define MAG_NOISE_DEFAULT 0.05f
#define GYRO_PNOISE_DEFAULT 0.015f
#define ACC_PNOISE_DEFAULT 0.25f
#define GBIAS_PNOISE_DEFAULT 1E-07f
#define ABIAS_PNOISE_DEFAULT 0.0002f
#define MAGE_PNOISE_DEFAULT 0.0003f
#define MAGB_PNOISE_DEFAULT 0.0003f
#define VEL_GATE_DEFAULT 5
#define POS_GATE_DEFAULT 5
#define HGT_GATE_DEFAULT 5
#define MAG_GATE_DEFAULT 3
#define MAG_CAL_DEFAULT 1
#else #else
// generic defaults (and for plane) // generic defaults (and for plane)
#define VELNE_NOISE_DEFAULT 0.30f #define VELNE_NOISE_DEFAULT 0.3f
#define VELD_NOISE_DEFAULT 0.5f
#define POSNE_NOISE_DEFAULT 0.5f
#define ALT_NOISE_DEFAULT 0.5f
#define MAG_NOISE_DEFAULT 0.05f
#define GYRO_PNOISE_DEFAULT 0.015f
#define ACC_PNOISE_DEFAULT 0.25f
#define GBIAS_PNOISE_DEFAULT 1E-07f
#define ABIAS_PNOISE_DEFAULT 0.0002f
#define MAGE_PNOISE_DEFAULT 0.0003f
#define MAGB_PNOISE_DEFAULT 0.0003f
#define VEL_GATE_DEFAULT 5
#define POS_GATE_DEFAULT 10
#define HGT_GATE_DEFAULT 10
#define MAG_GATE_DEFAULT 3
#define MAG_CAL_DEFAULT 0
#endif // APM_BUILD_DIRECTORY #endif // APM_BUILD_DIRECTORY
@ -61,7 +106,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @Range: 0.05 - 5.0 // @Range: 0.05 - 5.0
// @Increment: 0.05 // @Increment: 0.05
// @User: advanced // @User: advanced
AP_GROUPINFO("VELD_NOISE", 1, NavEKF, _gpsVertVelNoise, 0.30f), AP_GROUPINFO("VELD_NOISE", 1, NavEKF, _gpsVertVelNoise, VELD_NOISE_DEFAULT),
// @Param: POSNE_NOISE // @Param: POSNE_NOISE
// @DisplayName: GPS horizontal position measurement noise (m) // @DisplayName: GPS horizontal position measurement noise (m)
@ -69,7 +114,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @Range: 0.1 - 10.0 // @Range: 0.1 - 10.0
// @Increment: 0.1 // @Increment: 0.1
// @User: advanced // @User: advanced
AP_GROUPINFO("POSNE_NOISE", 2, NavEKF, _gpsHorizPosNoise, 0.50f), AP_GROUPINFO("POSNE_NOISE", 2, NavEKF, _gpsHorizPosNoise, POSNE_NOISE_DEFAULT),
// @Param: ALT_NOISE // @Param: ALT_NOISE
// @DisplayName: Altitude measurement noise (m) // @DisplayName: Altitude measurement noise (m)
@ -77,7 +122,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @Range: 0.1 - 10.0 // @Range: 0.1 - 10.0
// @Increment: 0.1 // @Increment: 0.1
// @User: advanced // @User: advanced
AP_GROUPINFO("ALT_NOISE", 3, NavEKF, _baroAltNoise, 0.50f), AP_GROUPINFO("ALT_NOISE", 3, NavEKF, _baroAltNoise, ALT_NOISE_DEFAULT),
// @Param: MAG_NOISE // @Param: MAG_NOISE
// @DisplayName: Magntometer measurement noise (Gauss) // @DisplayName: Magntometer measurement noise (Gauss)
@ -85,7 +130,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @Range: 0.01 - 0.5 // @Range: 0.01 - 0.5
// @Increment: 0.01 // @Increment: 0.01
// @User: advanced // @User: advanced
AP_GROUPINFO("MAG_NOISE", 4, NavEKF, _magNoise, 0.05f), AP_GROUPINFO("MAG_NOISE", 4, NavEKF, _magNoise, MAG_NOISE_DEFAULT),
// @Param: EAS_NOISE // @Param: EAS_NOISE
// @DisplayName: Equivalent airspeed measurement noise (m/s) // @DisplayName: Equivalent airspeed measurement noise (m/s)
@ -117,7 +162,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @Range: 0.001 - 0.05 // @Range: 0.001 - 0.05
// @Increment: 0.001 // @Increment: 0.001
// @User: advanced // @User: advanced
AP_GROUPINFO("GYRO_PNOISE", 8, NavEKF, _gyrNoise, 0.015f), AP_GROUPINFO("GYRO_PNOISE", 8, NavEKF, _gyrNoise, GYRO_PNOISE_DEFAULT),
// @Param: ACC_PNOISE // @Param: ACC_PNOISE
// @DisplayName: Accelerometer noise (m/s^2) // @DisplayName: Accelerometer noise (m/s^2)
@ -125,35 +170,35 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @Range: 0.05 - 1.0 AP_Float _gpsNEVelVarAccScale; // scale factor applied to NE velocity measurement variance due to Vdot // @Range: 0.05 - 1.0 AP_Float _gpsNEVelVarAccScale; // scale factor applied to NE velocity measurement variance due to Vdot
// @Increment: 0.01 // @Increment: 0.01
// @User: advanced // @User: advanced
AP_GROUPINFO("ACC_PNOISE", 9, NavEKF, _accNoise, 0.25f), AP_GROUPINFO("ACC_PNOISE", 9, NavEKF, _accNoise, ACC_PNOISE_DEFAULT),
// @Param: GBIAS_PNOISE // @Param: GBIAS_PNOISE
// @DisplayName: Rate gyro bias state process noise (rad/s) // @DisplayName: Rate gyro bias state process noise (rad/s)
// @Description: This noise controls the growth of gyro bias state error estimates. Increasing it makes rate gyro bias estimation faster and noisier. // @Description: This noise controls the growth of gyro bias state error estimates. Increasing it makes rate gyro bias estimation faster and noisier.
// @Range: 0.0000001 - 0.00001 // @Range: 0.0000001 - 0.00001
// @User: advanced // @User: advanced
AP_GROUPINFO("GBIAS_PNOISE", 10, NavEKF, _gyroBiasProcessNoise, 1.0e-7f), AP_GROUPINFO("GBIAS_PNOISE", 10, NavEKF, _gyroBiasProcessNoise, GBIAS_PNOISE_DEFAULT),
// @Param: ABIAS_PNOISE // @Param: ABIAS_PNOISE
// @DisplayName: Accelerometer bias state process noise (m/s^2) // @DisplayName: Accelerometer bias state process noise (m/s^2)
// @Description: This noise controls the growth of the vertical acelerometer bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier. // @Description: This noise controls the growth of the vertical acelerometer bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.
// @Range: 0.0002 - 0.001 // @Range: 0.0002 - 0.001
// @User: advanced // @User: advanced
AP_GROUPINFO("ABIAS_PNOISE", 11, NavEKF, _accelBiasProcessNoise, 2.0e-4f), AP_GROUPINFO("ABIAS_PNOISE", 11, NavEKF, _accelBiasProcessNoise, ABIAS_PNOISE_DEFAULT),
// @Param: MAGE_PNOISE // @Param: MAGE_PNOISE
// @DisplayName: Earth magnetic field states process noise (gauss/s) // @DisplayName: Earth magnetic field states process noise (gauss/s)
// @Description: This noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field bias estimation faster and noisier. // @Description: This noise controls the growth of earth magnetic field state error estimates. Increasing it makes earth magnetic field bias estimation faster and noisier.
// @Range: 0.0001 - 0.01 // @Range: 0.0001 - 0.01
// @User: advanced // @User: advanced
AP_GROUPINFO("MAGE_PNOISE", 12, NavEKF, _magEarthProcessNoise, 3.0e-4f), AP_GROUPINFO("MAGE_PNOISE", 12, NavEKF, _magEarthProcessNoise, MAGE_PNOISE_DEFAULT),
// @Param: MAGB_PNOISE // @Param: MAGB_PNOISE
// @DisplayName: Body magnetic field states process noise (gauss/s) // @DisplayName: Body magnetic field states process noise (gauss/s)
// @Description: This noise controls the growth of body magnetic field state error estimates. Increasing it makes compass offset estimation faster and noisier. // @Description: This noise controls the growth of body magnetic field state error estimates. Increasing it makes compass offset estimation faster and noisier.
// @Range: 0.0001 - 0.01 // @Range: 0.0001 - 0.01
// @User: advanced // @User: advanced
AP_GROUPINFO("MAGB_PNOISE", 13, NavEKF, _magBodyProcessNoise, 3.0e-4f), AP_GROUPINFO("MAGB_PNOISE", 13, NavEKF, _magBodyProcessNoise, MAGB_PNOISE_DEFAULT),
// @Param: VEL_DELAY // @Param: VEL_DELAY
// @DisplayName: GPS velocity measurement delay (msec) // @DisplayName: GPS velocity measurement delay (msec)
@ -185,7 +230,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @Range: 1 - 100 // @Range: 1 - 100
// @Increment: 1 // @Increment: 1
// @User: advanced // @User: advanced
AP_GROUPINFO("VEL_GATE", 17, NavEKF, _gpsVelInnovGate, 5), AP_GROUPINFO("VEL_GATE", 17, NavEKF, _gpsVelInnovGate, VEL_GATE_DEFAULT),
// @Param: POS_GATE // @Param: POS_GATE
// @DisplayName: GPS position measurement gate size // @DisplayName: GPS position measurement gate size
@ -193,7 +238,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @Range: 1 - 100 // @Range: 1 - 100
// @Increment: 1 // @Increment: 1
// @User: advanced // @User: advanced
AP_GROUPINFO("POS_GATE", 18, NavEKF, _gpsPosInnovGate, 5), AP_GROUPINFO("POS_GATE", 18, NavEKF, _gpsPosInnovGate, POS_GATE_DEFAULT),
// @Param: HGT_GATE // @Param: HGT_GATE
// @DisplayName: Height measurement gate size // @DisplayName: Height measurement gate size
@ -201,7 +246,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @Range: 1 - 100 // @Range: 1 - 100
// @Increment: 1 // @Increment: 1
// @User: advanced // @User: advanced
AP_GROUPINFO("HGT_GATE", 19, NavEKF, _hgtInnovGate, 10), AP_GROUPINFO("HGT_GATE", 19, NavEKF, _hgtInnovGate, HGT_GATE_DEFAULT),
// @Param: MAG_GATE // @Param: MAG_GATE
// @DisplayName: Magnetometer measurement gate size // @DisplayName: Magnetometer measurement gate size
@ -209,7 +254,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @Range: 1 - 100 // @Range: 1 - 100
// @Increment: 1 // @Increment: 1
// @User: advanced // @User: advanced
AP_GROUPINFO("MAG_GATE", 20, NavEKF, _magInnovGate, 3), AP_GROUPINFO("MAG_GATE", 20, NavEKF, _magInnovGate, MAG_GATE_DEFAULT),
// @Param: EAS_GATE // @Param: EAS_GATE
// @DisplayName: Airspeed measurement gate size // @DisplayName: Airspeed measurement gate size
@ -225,7 +270,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @Range: 0 - 1 // @Range: 0 - 1
// @Increment: 1 // @Increment: 1
// @User: advanced // @User: advanced
AP_GROUPINFO("MAG_CAL", 22, NavEKF, _magCal, 0), AP_GROUPINFO("MAG_CAL", 22, NavEKF, _magCal, MAG_CAL_DEFAULT),
AP_GROUPEND AP_GROUPEND
}; };