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Fix gyro measurement noise variance

This commit is contained in:
Lorenz Meier 2013-03-28 12:47:47 +01:00
parent 0dc96dbd89
commit 6eba7a9e41
1 changed files with 1 additions and 2 deletions
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3
apps/examples/kalman_demo/params.c
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@ -1,7 +1,7 @@
#include <systemlib/param/param.h>
/*PARAM_DEFINE_FLOAT(NAME,0.0f);*/
PARAM_DEFINE_FLOAT(KF_V_GYRO, 1.0f);
PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.008f);
PARAM_DEFINE_FLOAT(KF_V_ACCEL, 1.0f);
PARAM_DEFINE_FLOAT(KF_R_MAG, 1.0f);
PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 1.0f);
@ -14,4 +14,3 @@ PARAM_DEFINE_FLOAT(KF_FAULT_ATT, 10.0f);
PARAM_DEFINE_FLOAT(KF_ENV_G, 9.765f);
PARAM_DEFINE_FLOAT(KF_ENV_MAG_DIP, 60.0f);
PARAM_DEFINE_FLOAT(KF_ENV_MAG_DEC, 0.0f);