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Fixes to estimator and HIL startup script

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This commit is contained in:
Lorenz Meier
2013-07-04 15:45:32 +02:00
parent f42b3ecd96
commit b01673d1d8
3 changed files with 7 additions and 7 deletions
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ROMFS/px4fmu_common/init.d/rc.hil
+2 -2
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@@ -54,13 +54,13 @@ sh /etc/init.d/rc.sensors
# #
# Start the attitude estimator (depends on orb) # Start the attitude estimator (depends on orb)
# #
kalman_demo start att_pos_estimator_ekf start
# #
# Load mixer and start controllers (depends on px4io) # Load mixer and start controllers (depends on px4io)
# #
mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
control_demo start fixedwing_backside start
echo "[HIL] setup done, running" echo "[HIL] setup done, running"
src/modules/att_pos_estimator_ekf/KalmanNav.cpp
+1 -1
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@@ -262,7 +262,7 @@ void KalmanNav::update()
lat, lon, alt); lat, lon, alt);
} }
// prediciton step // prediction step
// using sensors timestamp so we can account for packet lag // using sensors timestamp so we can account for packet lag
float dt = (_sensors.timestamp - _predictTimeStamp) / 1.0e6f; float dt = (_sensors.timestamp - _predictTimeStamp) / 1.0e6f;
//printf("dt: %15.10f\n", double(dt)); //printf("dt: %15.10f\n", double(dt));
src/modules/att_pos_estimator_ekf/params.c
+4 -4
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@@ -36,10 +36,10 @@
/*PARAM_DEFINE_FLOAT(NAME,0.0f);*/ /*PARAM_DEFINE_FLOAT(NAME,0.0f);*/
PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.008f); PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.008f);
PARAM_DEFINE_FLOAT(KF_V_ACCEL, 1.0f); PARAM_DEFINE_FLOAT(KF_V_ACCEL, 1.0f);
PARAM_DEFINE_FLOAT(KF_R_MAG, 1.0f); PARAM_DEFINE_FLOAT(KF_R_MAG, 0.8f);
PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 1.0f); PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 0.5f);
PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 5.0f); PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 2.0f);
PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 5.0f); PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 3.0f);
PARAM_DEFINE_FLOAT(KF_R_PRESS_ALT, 0.1f); PARAM_DEFINE_FLOAT(KF_R_PRESS_ALT, 0.1f);
PARAM_DEFINE_FLOAT(KF_R_ACCEL, 1.0f); PARAM_DEFINE_FLOAT(KF_R_ACCEL, 1.0f);
PARAM_DEFINE_FLOAT(KF_FAULT_POS, 10.0f); PARAM_DEFINE_FLOAT(KF_FAULT_POS, 10.0f);