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Changed names and default values of attitude estimator parameters

This commit is contained in:
Julian Oes 2013-02-14 20:17:18 -08:00
parent 6fe5291147
commit ae51810a81
1 changed files with 18 additions and 18 deletions
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36
apps/attitude_estimator_ekf/attitude_estimator_ekf_params.c
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@ -44,19 +44,19 @@
/* Extended Kalman Filter covariances */
/* gyro process noise */
PARAM_DEFINE_FLOAT(EKF_ATT_Q0, 1e1f);
PARAM_DEFINE_FLOAT(EKF_ATT_Q1, 1e1f);
PARAM_DEFINE_FLOAT(EKF_ATT_Q2, 1e1f);
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);
/* gyro offsets process noise */
PARAM_DEFINE_FLOAT(EKF_ATT_Q3, 1e-4f);
PARAM_DEFINE_FLOAT(EKF_ATT_Q4, 1e-4f);
PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q3, 0.005f);
PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q4, 0.0f);
/* gyro measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_R0, 0.01f);
PARAM_DEFINE_FLOAT(EKF_ATT_R1, 0.01f);
PARAM_DEFINE_FLOAT(EKF_ATT_R2, 0.01f);
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);
/* accelerometer measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_R3, 1e2f);
PARAM_DEFINE_FLOAT(EKF_ATT_V2_R3, 0.0f);
/* offsets in roll, pitch and yaw of sensor plane and body */
PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f);
@ -66,16 +66,16 @@ PARAM_DEFINE_FLOAT(ATT_YAW_OFFS, 0.0f);
int parameters_init(struct attitude_estimator_ekf_param_handles *h)
{
/* PID parameters */
h->q0 = param_find("EKF_ATT_Q0");
h->q1 = param_find("EKF_ATT_Q1");
h->q2 = param_find("EKF_ATT_Q2");
h->q3 = param_find("EKF_ATT_Q3");
h->q4 = param_find("EKF_ATT_Q4");
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->r0 = param_find("EKF_ATT_R0");
h->r1 = param_find("EKF_ATT_R1");
h->r2 = param_find("EKF_ATT_R2");
h->r3 = param_find("EKF_ATT_R3");
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->roll_off = param_find("ATT_ROLL_OFFS");
h->pitch_off = param_find("ATT_PITCH_OFFS");