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updated parameters

This commit is contained in:
CarlOlsson 2016-07-25 22:07:01 +02:00 committed by Lorenz Meier
parent 5205a8198b
commit dec686afd7
2 changed files with 5 additions and 4 deletions
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6
EKF/common.h
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@ -227,7 +227,7 @@ struct parameters {
// synthetic sideslip fusion
float beta_innov_gate; // synthetic sideslip innovation consistency gate size in standard deviation (STD)
float beta_noise; // synthetic sideslip noise (rad)
float beta_avg_ft_ms; // The average time between synthetic sideslip measurements (msec)
float beta_avg_ft_us; // The average time between synthetic sideslip measurements (usec)
// range finder fusion
float range_noise; // observation noise for range finder measurements (m)
@ -328,8 +328,8 @@ struct parameters {
// sysntetic sideslip fusion
beta_innov_gate = 5.0f;
beta_noise = 0.03f;
beta_avg_ft_ms = 100.0f;
beta_noise = 0.5f;
beta_avg_ft_us = 1000000.0f; //1 Hz
// range finder fusion
range_noise = 0.1f;

3
EKF/control.cpp
View File

@ -774,7 +774,8 @@ void Ekf::controlAirDataFusion()
void Ekf::controlBetaFusion()
{
bool beta_fusion_time_triggered = _time_last_imu - _time_last_beta_fuse > _params.beta_avg_ft_ms;
bool beta_fusion_time_triggered = _time_last_imu - _time_last_beta_fuse > _params.beta_avg_ft_us;
if(beta_fusion_time_triggered && _control_status.flags.fuse_beta && _control_status.flags.in_air){
fuseSideslip();
}