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AP_NavEKF2: Update IMU tuning parameter limits

This commit is contained in:
Paul Riseborough 2015-11-15 12:40:29 +11:00 committed by Andrew Tridgell
parent 0562529729
commit e8706db382
2 changed files with 5 additions and 5 deletions
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6
libraries/AP_NavEKF2/AP_NavEKF2.cpp
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@ -333,8 +333,8 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = {
// @Param: GYRO_PNOISE
// @DisplayName: Rate gyro noise (rad/s)
// @Description: This control disturbance noise controls the growth of estimated error due to gyro measurement errors excluding bias. Increasing it makes the flter trust the gyro measurements less and other measurements more.
// @Range: 0.001 0.05
// @Increment: 0.001
// @Range: 0.0001 0.01
// @Increment: 0.0001
// @User: Advanced
// @Units: rad/s
AP_GROUPINFO("GYRO_PNOISE", 24, NavEKF2, _gyrNoise, GYRO_PNOISE_DEFAULT),
@ -342,7 +342,7 @@ const AP_Param::GroupInfo NavEKF2::var_info[] = {
// @Param: ACC_PNOISE
// @DisplayName: Accelerometer noise (m/s^2)
// @Description: This control disturbance noise controls the growth of estimated error due to accelerometer measurement errors excluding bias. Increasing it makes the flter trust the accelerometer measurements less and other measurements more.
// @Range: 0.05 1.0
// @Range: 0.01 1.0
// @Increment: 0.01
// @User: Advanced
// @Units: m/s/s

4
libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
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@ -668,9 +668,9 @@ void NavEKF2_core::CovariancePrediction()
day_s = stateStruct.gyro_scale.y;
daz_s = stateStruct.gyro_scale.z;
dvz_b = stateStruct.accel_zbias;
float _gyrNoise = constrain_float(frontend->_gyrNoise, 1e-3f, 5e-2f);
float _gyrNoise = constrain_float(frontend->_gyrNoise, 1e-4f, 1e-2f);
daxNoise = dayNoise = dazNoise = dt*_gyrNoise;
float _accNoise = constrain_float(frontend->_accNoise, 5e-2f, 1.0f);
float _accNoise = constrain_float(frontend->_accNoise, 1e-2f, 1.0f);
dvxNoise = dvyNoise = dvzNoise = dt*_accNoise;
// calculate the predicted covariance due to inertial sensor error propagation