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AP_NavEKF: Update default parameter values:

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Explicitly set Plane parameters rather than rely on use of the default
If no type defined, default to Copter parameters (most common platform type
Enable different platform types to use different initial accel bias uncertainty
Reduce initial accel bias uncertainty for copter to prevent initial oscillation in bias and height estimate
This commit is contained in:
Paul Riseborough 2015-10-30 13:50:32 +11:00 committed by Randy Mackay
parent 3d8f720aaf
commit 707089178f
1 changed files with 32 additions and 8 deletions
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40
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -31,24 +31,25 @@
#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 ALT_NOISE_DEFAULT 2.0f
#define MAG_NOISE_DEFAULT 0.05f
#define GYRO_PNOISE_DEFAULT 0.015f
#define ACC_PNOISE_DEFAULT 0.25f
#define GBIAS_PNOISE_DEFAULT 1E-06f
#define ABIAS_PNOISE_DEFAULT 0.00005f
#define MAGE_PNOISE_DEFAULT 0.0003f
#define MAGB_PNOISE_DEFAULT 0.0003f
#define MAGE_PNOISE_DEFAULT 0.0006f
#define MAGB_PNOISE_DEFAULT 0.0006f
#define VEL_GATE_DEFAULT 5
#define POS_GATE_DEFAULT 10
#define HGT_GATE_DEFAULT 10
#define MAG_GATE_DEFAULT 3
#define MAG_CAL_DEFAULT 1
#define MAG_CAL_DEFAULT 3
#define GLITCH_ACCEL_DEFAULT 100
#define GLITCH_RADIUS_DEFAULT 25
#define FLOW_MEAS_DELAY 10
#define FLOW_NOISE_DEFAULT 0.25f
#define FLOW_GATE_DEFAULT 3
#define INIT_ACCEL_BIAS_UNCERTAINTY 0.1f
#elif APM_BUILD_TYPE(APM_BUILD_APMrover2)
// rover defaults
@ -73,8 +74,9 @@
#define FLOW_MEAS_DELAY 25
#define FLOW_NOISE_DEFAULT 0.15f
#define FLOW_GATE_DEFAULT 5
#define INIT_ACCEL_BIAS_UNCERTAINTY 0.3f
#else
#elif APM_BUILD_TYPE(APM_BUILD_ArduPlane)
// generic defaults (and for plane)
#define VELNE_NOISE_DEFAULT 0.5f
#define VELD_NOISE_DEFAULT 0.7f
@ -97,6 +99,31 @@
#define FLOW_MEAS_DELAY 25
#define FLOW_NOISE_DEFAULT 0.3f
#define FLOW_GATE_DEFAULT 3
#define INIT_ACCEL_BIAS_UNCERTAINTY 0.3f
#else
#define VELNE_NOISE_DEFAULT 0.5f
#define VELD_NOISE_DEFAULT 0.7f
#define POSNE_NOISE_DEFAULT 0.5f
#define ALT_NOISE_DEFAULT 2.0f
#define MAG_NOISE_DEFAULT 0.05f
#define GYRO_PNOISE_DEFAULT 0.015f
#define ACC_PNOISE_DEFAULT 0.25f
#define GBIAS_PNOISE_DEFAULT 1E-06f
#define ABIAS_PNOISE_DEFAULT 0.00005f
#define MAGE_PNOISE_DEFAULT 0.0006f
#define MAGB_PNOISE_DEFAULT 0.0006f
#define VEL_GATE_DEFAULT 5
#define POS_GATE_DEFAULT 10
#define HGT_GATE_DEFAULT 10
#define MAG_GATE_DEFAULT 3
#define MAG_CAL_DEFAULT 3
#define GLITCH_ACCEL_DEFAULT 100
#define GLITCH_RADIUS_DEFAULT 25
#define FLOW_MEAS_DELAY 10
#define FLOW_NOISE_DEFAULT 0.25f
#define FLOW_GATE_DEFAULT 3
#define INIT_ACCEL_BIAS_UNCERTAINTY 0.1f
#endif // APM_BUILD_DIRECTORY
@ -109,9 +136,6 @@ extern const AP_HAL::HAL& hal;
// assume 3m/s to start
#define STARTUP_WIND_SPEED 3.0f
// initial imu bias uncertainty (deg/sec)
#define INIT_ACCEL_BIAS_UNCERTAINTY 0.3f
// maximum gyro bias in rad/sec that can be compensated for
#define MAX_GYRO_BIAS 0.1745f