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Merge commit '91e1680c1bb45bceb1d1dd675782111713f76a8a' into seatbelt_multirotor

This commit is contained in:
Anton Babushkin 2013-06-28 19:40:19 +04:00
parent 8e732fc527 91e1680c1b
commit a29e3b5a94
1 changed files with 24 additions and 24 deletions
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48
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
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@ -44,42 +44,42 @@
/* Extended Kalman Filter covariances */
/* gyro process noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q0, 1e-4f);
PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q1, 0.08f);
PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q2, 0.009f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q0, 1e-4f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q1, 0.08f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q2, 0.009f);
/* gyro offsets process noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q3, 0.005f);
PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q4, 0.0f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q4, 0.0f);
/* gyro measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V2_R0, 0.0008f);
PARAM_DEFINE_FLOAT(EKF_ATT_V2_R1, 0.8f);
PARAM_DEFINE_FLOAT(EKF_ATT_V2_R2, 1.0f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_R0, 0.0008f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_R1, 10000.0f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_R2, 1.0f);
/* accelerometer measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V2_R3, 0.0f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_R3, 0.0f);
/* offsets in roll, pitch and yaw of sensor plane and body */
PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f);
PARAM_DEFINE_FLOAT(ATT_PITCH_OFFS, 0.0f);
PARAM_DEFINE_FLOAT(ATT_YAW_OFFS, 0.0f);
PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f);
PARAM_DEFINE_FLOAT(ATT_PITCH_OFF3, 0.0f);
PARAM_DEFINE_FLOAT(ATT_YAW_OFF3, 0.0f);
int parameters_init(struct attitude_estimator_ekf_param_handles *h)
{
/* PID parameters */
h->q0 = param_find("EKF_ATT_V2_Q0");
h->q1 = param_find("EKF_ATT_V2_Q1");
h->q2 = param_find("EKF_ATT_V2_Q2");
h->q3 = param_find("EKF_ATT_V2_Q3");
h->q4 = param_find("EKF_ATT_V2_Q4");
h->q0 = param_find("EKF_ATT_V3_Q0");
h->q1 = param_find("EKF_ATT_V3_Q1");
h->q2 = param_find("EKF_ATT_V3_Q2");
h->q3 = param_find("EKF_ATT_V3_Q3");
h->q4 = param_find("EKF_ATT_V3_Q4");
h->r0 = param_find("EKF_ATT_V2_R0");
h->r1 = param_find("EKF_ATT_V2_R1");
h->r2 = param_find("EKF_ATT_V2_R2");
h->r3 = param_find("EKF_ATT_V2_R3");
h->r0 = param_find("EKF_ATT_V3_R0");
h->r1 = param_find("EKF_ATT_V3_R1");
h->r2 = param_find("EKF_ATT_V3_R2");
h->r3 = param_find("EKF_ATT_V3_R3");
h->roll_off = param_find("ATT_ROLL_OFFS");
h->pitch_off = param_find("ATT_PITCH_OFFS");
h->yaw_off = param_find("ATT_YAW_OFFS");
h->roll_off = param_find("ATT_ROLL_OFF3");
h->pitch_off = param_find("ATT_PITCH_OFF3");
h->yaw_off = param_find("ATT_YAW_OFF3");
return OK;
}