From be69887b7e1c9543b8bcceb45d8c5f40fe4d759c Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Fri, 26 Jun 2015 19:50:49 +0200 Subject: [PATCH] EKF: Improved down gains from @boosfelm and @surberj --- .../ekf_att_pos_estimator/ekf_att_pos_estimator_params.c | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c index f8cca6c0dd..4702ec6cdb 100644 --- a/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c +++ b/src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c @@ -141,13 +141,13 @@ PARAM_DEFINE_FLOAT(PE_VELNE_NOISE, 0.3f); /** * Velocity noise in down (vertical) direction * - * Generic default: 0.5, multicopters: 0.7, ground vehicles: 0.7 + * Generic default: 0.3, multicopters: 0.4, ground vehicles: 0.7 * * @min 0.05 * @max 5.0 * @group Position Estimator */ -PARAM_DEFINE_FLOAT(PE_VELD_NOISE, 0.5f); +PARAM_DEFINE_FLOAT(PE_VELD_NOISE, 0.3f); /** * Position noise in north-east (horizontal) direction @@ -163,13 +163,13 @@ PARAM_DEFINE_FLOAT(PE_POSNE_NOISE, 0.5f); /** * Position noise in down (vertical) direction * - * Generic defaults: 0.5, multicopters: 1.0, ground vehicles: 1.0 + * Generic defaults: 1.25, multicopters: 1.0, ground vehicles: 1.0 * * @min 0.1 * @max 10.0 * @group Position Estimator */ -PARAM_DEFINE_FLOAT(PE_POSD_NOISE, 0.5f); +PARAM_DEFINE_FLOAT(PE_POSD_NOISE, 1.25f); /** * Magnetometer measurement noise