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AP_NavEKF: Add separate flow default parameters for platform types

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Also reduces flow measurement noise default for copter only and increases gate to compensate.
This commit is contained in:
priseborough 2015-01-11 18:51:20 +11:00 committed by Randy Mackay
parent d2da16e652
commit 9c6dabe1cc
1 changed files with 8 additions and 2 deletions
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10
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -46,6 +46,8 @@
#define GLITCH_ACCEL_DEFAULT 150
#define GLITCH_RADIUS_DEFAULT 15
#define FLOW_MEAS_DELAY 10
#define FLOW_NOISE_DEFAULT 0.15f
#define FLOW_GATE_DEFAULT 5
#elif APM_BUILD_TYPE(APM_BUILD_APMrover2)
// rover defaults
@ -68,6 +70,8 @@
#define GLITCH_ACCEL_DEFAULT 150
#define GLITCH_RADIUS_DEFAULT 15
#define FLOW_MEAS_DELAY 25
#define FLOW_NOISE_DEFAULT 0.15f
#define FLOW_GATE_DEFAULT 5
#else
// generic defaults (and for plane)
@ -90,6 +94,8 @@
#define GLITCH_ACCEL_DEFAULT 150
#define GLITCH_RADIUS_DEFAULT 15
#define FLOW_MEAS_DELAY 25
#define FLOW_NOISE_DEFAULT 0.3f
#define FLOW_GATE_DEFAULT 3
#endif // APM_BUILD_DIRECTORY
@ -318,7 +324,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @Range: 0.05 - 1.0
// @Increment: 0.05
// @User: advanced
AP_GROUPINFO("FLOW_NOISE", 26, NavEKF, _flowNoise, 0.3f),
AP_GROUPINFO("FLOW_NOISE", 26, NavEKF, _flowNoise, FLOW_NOISE_DEFAULT),
// @Param: FLOW_GATE
// @DisplayName: Optical Flow measurement gate size
@ -326,7 +332,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @Range: 1 - 100
// @Increment: 1
// @User: advanced
AP_GROUPINFO("FLOW_GATE", 27, NavEKF, _flowInnovGate, 3),
AP_GROUPINFO("FLOW_GATE", 27, NavEKF, _flowInnovGate, FLOW_GATE_DEFAULT),
// @Param: FLOW_DELAY
// @DisplayName: Optical Flow measurement delay (msec)