From 91e1680c1bb45bceb1d1dd675782111713f76a8a Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Mon, 17 Jun 2013 17:13:34 +0200 Subject: [PATCH] fixed attitude estimator params --- .../attitude_estimator_ekf_params.c | 48 +++++++++---------- 1 file changed, 24 insertions(+), 24 deletions(-) diff --git a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c index 7d3812abdb..52dac652be 100755 --- a/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c +++ b/src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c @@ -44,42 +44,42 @@ /* Extended Kalman Filter covariances */ /* gyro process noise */ -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); +PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q0, 1e-4f); +PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q1, 0.08f); +PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q2, 0.009f); /* gyro offsets process noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q3, 0.005f); -PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q4, 0.0f); +PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f); +PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q4, 0.0f); /* gyro measurement noise */ -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); +PARAM_DEFINE_FLOAT(EKF_ATT_V3_R0, 0.0008f); +PARAM_DEFINE_FLOAT(EKF_ATT_V3_R1, 10000.0f); +PARAM_DEFINE_FLOAT(EKF_ATT_V3_R2, 1.0f); /* accelerometer measurement noise */ -PARAM_DEFINE_FLOAT(EKF_ATT_V2_R3, 0.0f); +PARAM_DEFINE_FLOAT(EKF_ATT_V3_R3, 0.0f); /* offsets in roll, pitch and yaw of sensor plane and body */ -PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f); -PARAM_DEFINE_FLOAT(ATT_PITCH_OFFS, 0.0f); -PARAM_DEFINE_FLOAT(ATT_YAW_OFFS, 0.0f); +PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f); +PARAM_DEFINE_FLOAT(ATT_PITCH_OFF3, 0.0f); +PARAM_DEFINE_FLOAT(ATT_YAW_OFF3, 0.0f); int parameters_init(struct attitude_estimator_ekf_param_handles *h) { /* PID parameters */ - 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->q0 = param_find("EKF_ATT_V3_Q0"); + h->q1 = param_find("EKF_ATT_V3_Q1"); + h->q2 = param_find("EKF_ATT_V3_Q2"); + h->q3 = param_find("EKF_ATT_V3_Q3"); + h->q4 = param_find("EKF_ATT_V3_Q4"); - 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->r0 = param_find("EKF_ATT_V3_R0"); + h->r1 = param_find("EKF_ATT_V3_R1"); + h->r2 = param_find("EKF_ATT_V3_R2"); + h->r3 = param_find("EKF_ATT_V3_R3"); - h->roll_off = param_find("ATT_ROLL_OFFS"); - h->pitch_off = param_find("ATT_PITCH_OFFS"); - h->yaw_off = param_find("ATT_YAW_OFFS"); + h->roll_off = param_find("ATT_ROLL_OFF3"); + h->pitch_off = param_find("ATT_PITCH_OFF3"); + h->yaw_off = param_find("ATT_YAW_OFF3"); return OK; }