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EKF: Improved down gains from @boosfelm and @surberj

This commit is contained in:
Lorenz Meier 2015-06-26 19:50:49 +02:00
parent 572f1f4637
commit be69887b7e
1 changed files with 4 additions and 4 deletions
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8
src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c
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@ -141,13 +141,13 @@ PARAM_DEFINE_FLOAT(PE_VELNE_NOISE, 0.3f);
/** /**
* Velocity noise in down (vertical) direction * 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 * @min 0.05
* @max 5.0 * @max 5.0
* @group Position Estimator * @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 * 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 * 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 * @min 0.1
* @max 10.0 * @max 10.0
* @group Position Estimator * @group Position Estimator
*/ */
PARAM_DEFINE_FLOAT(PE_POSD_NOISE, 0.5f); PARAM_DEFINE_FLOAT(PE_POSD_NOISE, 1.25f);
/** /**
* Magnetometer measurement noise * Magnetometer measurement noise