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LPE rate and stddev changes for mocap/vision. (#5467)

This commit is contained in:
James Goppert 2016-09-07 23:56:10 +00:00 committed by GitHub
parent 76c2d92b7e
commit d5c96ec66a
2 changed files with 7 additions and 6 deletions
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7
src/modules/local_position_estimator/BlockLocalPositionEstimator.cpp
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@ -34,10 +34,11 @@ BlockLocalPositionEstimator::BlockLocalPositionEstimator() :
_sub_manual(ORB_ID(manual_control_setpoint), 1000 / 2, 0, &getSubscriptions()),
// gps 10 hz
_sub_gps(ORB_ID(vehicle_gps_position), 1000 / 10, 0, &getSubscriptions()),
// vision 5 hz
_sub_vision_pos(ORB_ID(vision_position_estimate), 1000 / 5, 0, &getSubscriptions()),
// vision 30 hz
_sub_vision_pos(ORB_ID(vision_position_estimate), 1000 / 30, 0, &getSubscriptions()),
// mocap 50 hz
_sub_mocap(ORB_ID(att_pos_mocap), 1000 / 50, 0, &getSubscriptions()),
// all distance sensors, 10 hz
_sub_mocap(ORB_ID(att_pos_mocap), 1000 / 10, 0, &getSubscriptions()),
_sub_dist0(ORB_ID(distance_sensor), 1000 / 10, 0, &getSubscriptions()),
_sub_dist1(ORB_ID(distance_sensor), 1000 / 10, 1, &getSubscriptions()),
_sub_dist2(ORB_ID(distance_sensor), 1000 / 10, 2, &getSubscriptions()),

6
src/modules/local_position_estimator/params.c
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@ -251,11 +251,11 @@ PARAM_DEFINE_INT32(LPE_VIS_ON, 1);
*
* @group Local Position Estimator
* @unit m
* @min 0.01
* @min 0.0001
* @max 1
* @decimal 3
* @decimal 4
*/
PARAM_DEFINE_FLOAT(LPE_VIC_P, 0.05f);
PARAM_DEFINE_FLOAT(LPE_VIC_P, 0.001f);
/**
* Position propagation noise density