mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-05-23 14:47:44 +08:00
ekf2: organize gyro_bias/accel_bias param yaml
This commit is contained in:
Daniel Agar
@@ -262,6 +262,8 @@ px4_add_module(
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MODULE_CONFIG
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module.yaml
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params_gyro_bias.yaml
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params_accel_bias.yaml
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params_multi.yaml
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params_volatile.yaml
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params_selector.yaml
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+82
-179
@@ -7,6 +7,11 @@ parameters:
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short: EKF2 enable
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type: boolean
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default: 1
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EKF2_LOG_VERBOSE:
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description:
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short: Verbose logging
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type: boolean
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default: 1
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EKF2_PREDICT_US:
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description:
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short: EKF prediction period
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@@ -18,17 +23,6 @@ parameters:
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min: 1000
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max: 20000
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unit: us
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EKF2_IMU_CTRL:
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description:
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short: IMU control
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type: bitmask
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bit:
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0: Gyro Bias
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1: Accel Bias
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2: Gravity vector fusion
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default: 7
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min: 0
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max: 7
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EKF2_DELAY_MAX:
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description:
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short: Maximum delay of all the aiding sensors
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@@ -41,6 +35,82 @@ parameters:
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unit: ms
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reboot_required: true
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decimal: 1
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EKF2_ANGERR_INIT:
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description:
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short: 1-sigma tilt angle uncertainty after gravity vector alignment
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type: float
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default: 0.1
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min: 0.0
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max: 0.5
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unit: rad
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reboot_required: true
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decimal: 3
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EKF2_HDG_GATE:
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description:
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short: Gate size for heading fusion
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long: Sets the number of standard deviations used by the innovation consistency
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test.
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type: float
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default: 2.6
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min: 1.0
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unit: SD
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decimal: 1
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EKF2_HEAD_NOISE:
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description:
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short: Measurement noise for magnetic heading fusion
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type: float
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default: 0.3
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min: 0.01
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max: 1.0
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unit: rad
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decimal: 2
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EKF2_NOAID_NOISE:
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description:
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short: Measurement noise for non-aiding position hold
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type: float
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default: 10.0
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min: 0.5
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max: 50.0
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unit: m
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decimal: 1
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EKF2_NOAID_TOUT:
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description:
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short: Maximum inertial dead-reckoning time
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long: Maximum lapsed time from last fusion of measurements that constrain
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velocity drift before the EKF will report the horizontal nav solution as
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invalid
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type: int32
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default: 5000000
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min: 500000
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max: 10000000
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unit: us
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EKF2_HGT_REF:
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description:
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short: Determines the reference source of height data used by the EKF
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long: When multiple height sources are enabled at the same time, the height
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estimate will always converge towards the reference height source selected
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by this parameter. The range sensor and vision options should only be used
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when for operation over a flat surface as the local NED origin will move
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up and down with ground level.
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type: enum
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values:
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0: Barometric pressure
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1: GPS
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2: Range sensor
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3: Vision
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default: 1
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reboot_required: true
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EKF2_IMU_CTRL:
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description:
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short: IMU control
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type: bitmask
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bit:
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0: Gyro Bias
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1: Accel Bias
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2: Gravity vector fusion
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default: 7
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min: 0
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max: 7
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EKF2_GYR_NOISE:
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description:
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short: Rate gyro noise for covariance prediction
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@@ -59,79 +129,6 @@ parameters:
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max: 1.0
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unit: m/s^2
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decimal: 2
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EKF2_GYR_B_NOISE:
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description:
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short: Process noise for IMU rate gyro bias prediction
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type: float
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default: 0.001
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min: 0.0
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max: 0.01
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unit: rad/s^2
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decimal: 6
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EKF2_ACC_B_NOISE:
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description:
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short: Process noise for IMU accelerometer bias prediction
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type: float
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default: 0.003
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min: 0.0
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max: 0.01
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unit: m/s^3
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decimal: 6
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EKF2_NOAID_NOISE:
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description:
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short: Measurement noise for non-aiding position hold
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type: float
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default: 10.0
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min: 0.5
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max: 50.0
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unit: m
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decimal: 1
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EKF2_HEAD_NOISE:
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description:
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short: Measurement noise for magnetic heading fusion
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type: float
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default: 0.3
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min: 0.01
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max: 1.0
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unit: rad
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decimal: 2
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EKF2_HDG_GATE:
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description:
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short: Gate size for heading fusion
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long: Sets the number of standard deviations used by the innovation consistency
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test.
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type: float
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default: 2.6
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min: 1.0
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unit: SD
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decimal: 1
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EKF2_HGT_REF:
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description:
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short: Determines the reference source of height data used by the EKF
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long: When multiple height sources are enabled at the same time, the height
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estimate will always converge towards the reference height source selected
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by this parameter. The range sensor and vision options should only be used
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when for operation over a flat surface as the local NED origin will move
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up and down with ground level.
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type: enum
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values:
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0: Barometric pressure
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1: GPS
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2: Range sensor
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3: Vision
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default: 1
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reboot_required: true
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EKF2_NOAID_TOUT:
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description:
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short: Maximum inertial dead-reckoning time
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long: Maximum lapsed time from last fusion of measurements that constrain
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velocity drift before the EKF will report the horizontal nav solution as
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invalid
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type: int32
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default: 5000000
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min: 500000
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max: 10000000
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unit: us
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EKF2_IMU_POS_X:
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description:
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short: X position of IMU in body frame
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@@ -156,6 +153,7 @@ parameters:
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default: 0.0
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unit: m
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decimal: 3
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EKF2_TAU_VEL:
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description:
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short: Time constant of the velocity output prediction and smoothing filter
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@@ -174,98 +172,3 @@ parameters:
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max: 1.0
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unit: s
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decimal: 2
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EKF2_GBIAS_INIT:
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description:
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short: 1-sigma IMU gyro switch-on bias
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type: float
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default: 0.1
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min: 0.0
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max: 0.2
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unit: rad/s
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reboot_required: true
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decimal: 2
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EKF2_ABIAS_INIT:
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description:
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short: 1-sigma IMU accelerometer switch-on bias
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type: float
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default: 0.2
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min: 0.0
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max: 0.5
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unit: m/s^2
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reboot_required: true
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decimal: 2
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EKF2_ANGERR_INIT:
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description:
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short: 1-sigma tilt angle uncertainty after gravity vector alignment
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type: float
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default: 0.1
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min: 0.0
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max: 0.5
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unit: rad
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reboot_required: true
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decimal: 3
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EKF2_ABL_LIM:
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description:
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short: Accelerometer bias learning limit
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long: The ekf accel bias states will be limited to within a range equivalent
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to +- of this value.
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type: float
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default: 0.4
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min: 0.0
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max: 0.8
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unit: m/s^2
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decimal: 2
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EKF2_ABL_ACCLIM:
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description:
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short: Maximum IMU accel magnitude that allows IMU bias learning
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long: If the magnitude of the IMU accelerometer vector exceeds this value,
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the EKF accel bias state estimation will be inhibited. This reduces the
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adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale
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factor errors on the accel bias estimates.
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type: float
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default: 25.0
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min: 20.0
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max: 200.0
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unit: m/s^2
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decimal: 1
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EKF2_ABL_GYRLIM:
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description:
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short: Maximum IMU gyro angular rate magnitude that allows IMU bias learning
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long: If the magnitude of the IMU angular rate vector exceeds this value,
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the EKF accel bias state estimation will be inhibited. This reduces the
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adverse effect of rapid rotation rates and associated errors on the accel
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bias estimates.
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type: float
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default: 3.0
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min: 2.0
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max: 20.0
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unit: rad/s
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decimal: 1
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EKF2_ABL_TAU:
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description:
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short: Accel bias learning inhibit time constant
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long: The vector magnitude of angular rate and acceleration used to check
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if learning should be inhibited has a peak hold filter applied to it with
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an exponential decay. This parameter controls the time constant of the decay.
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type: float
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default: 0.5
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min: 0.1
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max: 1.0
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unit: s
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decimal: 2
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EKF2_GYR_B_LIM:
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description:
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short: Gyro bias learning limit
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long: The ekf gyro bias states will be limited to within a range equivalent
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to +- of this value.
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type: float
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default: 0.15
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min: 0.0
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max: 0.4
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unit: rad/s
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decimal: 3
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EKF2_LOG_VERBOSE:
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description:
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short: Verbose logging
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type: boolean
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default: 1
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@@ -0,0 +1,72 @@
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module_name: ekf2
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parameters:
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- group: EKF2
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definitions:
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EKF2_ABIAS_INIT:
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description:
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short: 1-sigma IMU accelerometer switch-on bias
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type: float
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default: 0.2
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min: 0.0
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max: 0.5
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unit: m/s^2
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reboot_required: true
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decimal: 2
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EKF2_ACC_B_NOISE:
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description:
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short: Process noise for IMU accelerometer bias prediction
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type: float
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default: 0.003
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min: 0.0
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max: 0.01
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unit: m/s^3
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decimal: 6
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EKF2_ABL_LIM:
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description:
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short: Accelerometer bias learning limit
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long: The ekf accel bias states will be limited to within a range equivalent
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to +- of this value.
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type: float
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default: 0.4
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min: 0.0
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max: 0.8
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unit: m/s^2
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decimal: 2
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EKF2_ABL_ACCLIM:
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description:
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short: Maximum IMU accel magnitude that allows IMU bias learning
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long: If the magnitude of the IMU accelerometer vector exceeds this value,
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the EKF accel bias state estimation will be inhibited. This reduces the
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adverse effect of high manoeuvre accelerations and IMU nonlinerity and scale
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factor errors on the accel bias estimates.
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type: float
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default: 25.0
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min: 20.0
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max: 200.0
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unit: m/s^2
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decimal: 1
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EKF2_ABL_GYRLIM:
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description:
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short: Maximum IMU gyro angular rate magnitude that allows IMU bias learning
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long: If the magnitude of the IMU angular rate vector exceeds this value,
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the EKF accel bias state estimation will be inhibited. This reduces the
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adverse effect of rapid rotation rates and associated errors on the accel
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bias estimates.
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type: float
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default: 3.0
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min: 2.0
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max: 20.0
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unit: rad/s
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decimal: 1
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EKF2_ABL_TAU:
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description:
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short: Accel bias learning inhibit time constant
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long: The vector magnitude of angular rate and acceleration used to check
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if learning should be inhibited has a peak hold filter applied to it with
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an exponential decay. This parameter controls the time constant of the decay.
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type: float
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default: 0.5
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min: 0.1
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max: 1.0
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unit: s
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decimal: 2
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@@ -0,0 +1,34 @@
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module_name: ekf2
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parameters:
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- group: EKF2
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definitions:
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EKF2_GBIAS_INIT:
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description:
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short: 1-sigma IMU gyro switch-on bias
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type: float
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default: 0.1
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min: 0.0
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max: 0.2
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unit: rad/s
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reboot_required: true
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decimal: 2
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EKF2_GYR_B_NOISE:
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description:
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short: Process noise for IMU rate gyro bias prediction
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type: float
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default: 0.001
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min: 0.0
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max: 0.01
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unit: rad/s^2
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decimal: 6
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EKF2_GYR_B_LIM:
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description:
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short: Gyro bias learning limit
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long: The ekf gyro bias states will be limited to within a range equivalent
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to +- of this value.
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type: float
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default: 0.15
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min: 0.0
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max: 0.4
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unit: rad/s
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decimal: 3
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