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EKF: Set better default gains

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Lorenz Meier
2015-08-30 19:36:51 +02:00
parent efcc4f81e2
commit b5a410e9d2
1 changed files with 4 additions and 4 deletions
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src/modules/ekf_att_pos_estimator/ekf_att_pos_estimator_params.c
+4 -4
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@@ -214,23 +214,23 @@ PARAM_DEFINE_FLOAT(PE_ACC_PNOISE, 0.25f);
* Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f. * Generic defaults: 1e-07f, multicopters: 1e-07f, ground vehicles: 1e-07f.
* Increasing this value will make the gyro bias converge faster but noisier. * Increasing this value will make the gyro bias converge faster but noisier.
* *
* @min 0.0000001 * @min 0.00000005
* @max 0.00001 * @max 0.00001
* @group Position Estimator * @group Position Estimator
*/ */
PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-06f); PARAM_DEFINE_FLOAT(PE_GBIAS_PNOISE, 1e-07f);
/** /**
* Accelerometer bias estimate process noise * Accelerometer bias estimate process noise
* *
* Generic defaults: 0.0001f, multicopters: 0.0001f, ground vehicles: 0.0001f. * Generic defaults: 0.00001f, multicopters: 0.00001f, ground vehicles: 0.00001f.
* Increasing this value makes the bias estimation faster and noisier. * Increasing this value makes the bias estimation faster and noisier.
* *
* @min 0.00001 * @min 0.00001
* @max 0.001 * @max 0.001
* @group Position Estimator * @group Position Estimator
*/ */
PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 0.0002f); PARAM_DEFINE_FLOAT(PE_ABIAS_PNOISE, 1e-05f);
/** /**
* Magnetometer earth frame offsets process noise * Magnetometer earth frame offsets process noise