From 7956c8b08e53be876e96ddd434799b96ce5b7661 Mon Sep 17 00:00:00 2001 From: Anton Babushkin Date: Mon, 20 Jan 2014 18:35:06 +0100 Subject: [PATCH] position_estimator_inav: default parameters updated --- .../position_estimator_inav_params.c | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/src/modules/position_estimator_inav/position_estimator_inav_params.c b/src/modules/position_estimator_inav/position_estimator_inav_params.c index da4c9482c0..e1bbd75a6e 100644 --- a/src/modules/position_estimator_inav/position_estimator_inav_params.c +++ b/src/modules/position_estimator_inav/position_estimator_inav_params.c @@ -41,15 +41,15 @@ #include "position_estimator_inav_params.h" PARAM_DEFINE_FLOAT(INAV_W_Z_BARO, 1.0f); -PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.5f); +PARAM_DEFINE_FLOAT(INAV_W_Z_GPS_P, 0.005f); PARAM_DEFINE_FLOAT(INAV_W_Z_ACC, 20.0f); PARAM_DEFINE_FLOAT(INAV_W_Z_SONAR, 3.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_P, 1.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_GPS_V, 2.0f); -PARAM_DEFINE_FLOAT(INAV_W_XY_ACC, 10.0f); +PARAM_DEFINE_FLOAT(INAV_W_XY_ACC, 20.0f); PARAM_DEFINE_FLOAT(INAV_W_XY_FLOW, 5.0f); PARAM_DEFINE_FLOAT(INAV_W_GPS_FLOW, 0.1f); -PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.0f); +PARAM_DEFINE_FLOAT(INAV_W_ACC_BIAS, 0.05f); PARAM_DEFINE_FLOAT(INAV_FLOW_K, 0.0165f); PARAM_DEFINE_FLOAT(INAV_FLOW_Q_MIN, 0.5f); PARAM_DEFINE_FLOAT(INAV_SONAR_FILT, 0.05f);