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AP_NavEKF: tuning change to accel bias learning

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Paul Riseborough 2015-03-21 14:42:15 -07:00 committed by Andrew Tridgell
parent 398accd151
commit fafb898341
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -110,7 +110,7 @@ extern const AP_HAL::HAL& hal;
// initial imu bias uncertainty (deg/sec) // initial imu bias uncertainty (deg/sec)
#define INIT_GYRO_BIAS_UNCERTAINTY 0.1f #define INIT_GYRO_BIAS_UNCERTAINTY 0.1f
#define INIT_ACCEL_BIAS_UNCERTAINTY 0.5f #define INIT_ACCEL_BIAS_UNCERTAINTY 0.3f
// Define tuning parameters // Define tuning parameters
const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = { const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
@ -389,7 +389,7 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) :
magFailTimeLimit_ms(10000), // number of msec before a magnetometer failing innovation consistency checks is declared failed (msec) magFailTimeLimit_ms(10000), // number of msec before a magnetometer failing innovation consistency checks is declared failed (msec)
magVarRateScale(0.05f), // scale factor applied to magnetometer variance due to angular rate magVarRateScale(0.05f), // scale factor applied to magnetometer variance due to angular rate
gyroBiasNoiseScaler(2.0f), // scale factor applied to imu gyro bias learning before the vehicle is armed gyroBiasNoiseScaler(2.0f), // scale factor applied to imu gyro bias learning before the vehicle is armed
accelBiasNoiseScaler(1.4f), // scale factor applied to imu accel bias learning before the vehicle is armed accelBiasNoiseScaler(1.0f), // scale factor applied to imu accel bias learning before the vehicle is armed
msecGpsAvg(200), // average number of msec between GPS measurements msecGpsAvg(200), // average number of msec between GPS measurements
msecHgtAvg(100), // average number of msec between height measurements msecHgtAvg(100), // average number of msec between height measurements
msecMagAvg(100), // average number of msec between magnetometer measurements msecMagAvg(100), // average number of msec between magnetometer measurements