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Merge remote-tracking branch 'upstream/att_fix' into pid_fixes

This commit is contained in:
Julian Oes 2013-06-17 21:05:15 +02:00
parent 216617431d 91e1680c1b
commit e8dbc1fada
1 changed files with 24 additions and 24 deletions
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48
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
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@ -44,42 +44,42 @@
/* Extended Kalman Filter covariances */ /* Extended Kalman Filter covariances */
/* gyro process noise */ /* gyro process noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q0, 1e-4f); PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q0, 1e-4f);
PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q1, 0.08f); PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q1, 0.08f);
PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q2, 0.009f); PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q2, 0.009f);
/* gyro offsets process noise */ /* gyro offsets process noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q3, 0.005f); PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f);
PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q4, 0.0f); PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q4, 0.0f);
/* gyro measurement noise */ /* gyro measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V2_R0, 0.0008f); PARAM_DEFINE_FLOAT(EKF_ATT_V3_R0, 0.0008f);
PARAM_DEFINE_FLOAT(EKF_ATT_V2_R1, 0.8f); PARAM_DEFINE_FLOAT(EKF_ATT_V3_R1, 10000.0f);
PARAM_DEFINE_FLOAT(EKF_ATT_V2_R2, 1.0f); PARAM_DEFINE_FLOAT(EKF_ATT_V3_R2, 1.0f);
/* accelerometer measurement noise */ /* 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 */ /* offsets in roll, pitch and yaw of sensor plane and body */
PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f); PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f);
PARAM_DEFINE_FLOAT(ATT_PITCH_OFFS, 0.0f); PARAM_DEFINE_FLOAT(ATT_PITCH_OFF3, 0.0f);
PARAM_DEFINE_FLOAT(ATT_YAW_OFFS, 0.0f); PARAM_DEFINE_FLOAT(ATT_YAW_OFF3, 0.0f);
int parameters_init(struct attitude_estimator_ekf_param_handles *h) int parameters_init(struct attitude_estimator_ekf_param_handles *h)
{ {
/* PID parameters */ /* PID parameters */
h->q0 = param_find("EKF_ATT_V2_Q0"); h->q0 = param_find("EKF_ATT_V3_Q0");
h->q1 = param_find("EKF_ATT_V2_Q1"); h->q1 = param_find("EKF_ATT_V3_Q1");
h->q2 = param_find("EKF_ATT_V2_Q2"); h->q2 = param_find("EKF_ATT_V3_Q2");
h->q3 = param_find("EKF_ATT_V2_Q3"); h->q3 = param_find("EKF_ATT_V3_Q3");
h->q4 = param_find("EKF_ATT_V2_Q4"); h->q4 = param_find("EKF_ATT_V3_Q4");
h->r0 = param_find("EKF_ATT_V2_R0"); h->r0 = param_find("EKF_ATT_V3_R0");
h->r1 = param_find("EKF_ATT_V2_R1"); h->r1 = param_find("EKF_ATT_V3_R1");
h->r2 = param_find("EKF_ATT_V2_R2"); h->r2 = param_find("EKF_ATT_V3_R2");
h->r3 = param_find("EKF_ATT_V2_R3"); h->r3 = param_find("EKF_ATT_V3_R3");
h->roll_off = param_find("ATT_ROLL_OFFS"); h->roll_off = param_find("ATT_ROLL_OFF3");
h->pitch_off = param_find("ATT_PITCH_OFFS"); h->pitch_off = param_find("ATT_PITCH_OFF3");
h->yaw_off = param_find("ATT_YAW_OFFS"); h->yaw_off = param_find("ATT_YAW_OFF3");
return OK; return OK;
} }