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Updated update / telemetry rates, updated covariance

This commit is contained in:
Lorenz Meier 2012-10-02 10:41:46 +02:00
parent 21b86cba26
commit 5895a2e966
2 changed files with 8 additions and 5 deletions
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9
apps/attitude_estimator_ekf/attitude_estimator_ekf_main.c
View File

@ -306,9 +306,10 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
q[0] = 1e1f;
q[1] = 1e1f;
q[2] = 1e1f;
q[3] = 1e-6f;
q[4] = 1e-6f;
q[5] = 1e-6f;
/* process noise gyro offset covariance */
q[3] = 1e-4f;
q[4] = 1e-4f;
q[5] = 1e-4f;
q[6] = 1e-1f;
q[7] = 1e-1f;
q[8] = 1e-1f;
@ -347,6 +348,8 @@ int attitude_estimator_ekf_thread_main(int argc, char *argv[])
continue;
}
dt = 0.004f;
uint64_t timing_start = hrt_absolute_time();
// attitudeKalmanfilter(dt, update_vect, z_k, &z_k_sizes, u, x_aposteriori_k, P_aposteriori_k, knownConst, euler,
// Rot_matrix, x_aposteriori, P_aposteriori);

4
apps/mavlink/mavlink.c
View File

@ -1708,9 +1708,9 @@ int mavlink_thread_main(int argc, char *argv[])
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_HIGHRES_IMU, 20);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_RAW_IMU, 20);
/* 50 Hz / 20 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_ATTITUDE, 30);
/* 20 Hz / 50 ms */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 50);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_NAMED_VALUE_FLOAT, 10);
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_SERVO_OUTPUT_RAW, 50);
/* 2 Hz */
set_mavlink_interval_limit(&mavlink_subs, MAVLINK_MSG_ID_MANUAL_CONTROL, 100);