mirror of
https://github.com/PX4/PX4-Autopilot.git
synced 2026-06-08 02:17:07 +08:00
Paul Riseborough
a37daf4cec
A larger position uncertainty is required when flying without GPS to reduce tilt attitude estimation errors caused by vehicle manoeuvring. This needs to be tuneable to allow optimisation for different use cases (e.g. outdoor vs indoor).
355 lines
7.3 KiB
C
355 lines
7.3 KiB
C
/****************************************************************************
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*
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* Copyright (c) 2015 Estimation and Control Library (ECL). All rights reserved.
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*
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* Redistribution and use in source and binary forms, with or without
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* modification, are permitted provided that the following conditions
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* are met:
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*
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* 1. Redistributions of source code must retain the above copyright
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* notice, this list of conditions and the following disclaimer.
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* 2. Redistributions in binary form must reproduce the above copyright
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* notice, this list of conditions and the following disclaimer in
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* the documentation and/or other materials provided with the
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* distribution.
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* 3. Neither the name ECL nor the names of its contributors may be
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* used to endorse or promote products derived from this software
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* without specific prior written permission.
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*
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* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS
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* "AS IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT
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* LIMITED TO, THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS
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* FOR A PARTICULAR PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE
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* COPYRIGHT OWNER OR CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT,
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* INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING,
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* BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS
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* OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED
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* AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT
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* LIABILITY, OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN
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* ANY WAY OUT OF THE USE OF THIS SOFTWARE, EVEN IF ADVISED OF THE
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* POSSIBILITY OF SUCH DAMAGE.
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*
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****************************************************************************/
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/**
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* @file parameters.c
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* Parameter definition for ekf2.
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*
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* @author Roman Bast <bapstroman@gmail.com>
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*
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*/
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#include <systemlib/param/param.h>
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/**
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* Magnetometer measurement delay relative to IMU measurements
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*
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* @group EKF2
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* @min 0
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* @max 300
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* @unit ms
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*/
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PARAM_DEFINE_FLOAT(EKF2_MAG_DELAY, 0);
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/**
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* Barometer measurement delay relative to IMU measurements
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*
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* @group EKF2
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* @min 0
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* @max 300
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* @unit ms
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*/
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PARAM_DEFINE_FLOAT(EKF2_BARO_DELAY, 0);
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/**
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* GPS measurement delay relative to IMU measurements
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*
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* @group EKF2
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* @min 0
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* @max 300
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* @unit ms
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*/
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PARAM_DEFINE_FLOAT(EKF2_GPS_DELAY, 200);
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/**
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* Airspeed measurement delay relative to IMU measurements
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*
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* @group EKF2
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* @min 0
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* @max 300
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* @unit ms
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*/
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PARAM_DEFINE_FLOAT(EKF2_ASP_DELAY, 200);
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/**
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* Integer bitmask controlling GPS checks. Set bits to 1 to enable checks. Checks enabled by the following bit positions
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* 0 : Minimum required sat count set by EKF2_REQ_NSATS
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* 1 : Minimum required GDoP set by EKF2_REQ_GDOP
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* 2 : Maximum allowed horizontal position error set by EKF2_REQ_EPH
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* 3 : Maximum allowed vertical position error set by EKF2_REQ_EPV
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* 4 : Maximum allowed speed error set by EKF2_REQ_SACC
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* 5 : Maximum allowed horizontal position rate set by EKF2_REQ_HDRIFT. This check can only be used if the vehciel is stationary during alignment.
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* 6 : Maximum allowed vertical position rate set by EKF2_REQ_VDRIFT. This check can only be used if the vehciel is stationary during alignment.
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* 7 : Maximum allowed horizontal speed set by EKF2_REQ_HDRIFT. This check can only be used if the vehciel is stationary during alignment.
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* 8 : Maximum allowed vertical velocity discrepancy set by EKF2_REQ_VDRIFT
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*
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* @group EKF2
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* @min 0
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* @max 511
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* @unit
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*/
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PARAM_DEFINE_INT32(EKF2_GPS_CHECK, 21);
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/**
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* Required EPH to use GPS.
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*
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* @group EKF2
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* @min 2
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* @max 100
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* @unit m
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*/
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PARAM_DEFINE_FLOAT(EKF2_REQ_EPH, 5.0f);
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/**
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* Required EPV to use GPS.
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*
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* @group EKF2
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* @min 2
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* @max 100
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* @unit m
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*/
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PARAM_DEFINE_FLOAT(EKF2_REQ_EPV, 8.0f);
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/**
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* Required speed accuracy to use GPS.
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*
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* @group EKF2
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* @min 0.5
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* @max 5.0
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* @unit m/s
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*/
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PARAM_DEFINE_FLOAT(EKF2_REQ_SACC, 1.0f);
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/**
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* Required satellite count to use GPS.
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*
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* @group EKF2
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* @min 4
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* @max 12
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* @unit
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*/
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PARAM_DEFINE_INT32(EKF2_REQ_NSATS, 6);
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/**
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* Required GDoP to use GPS.
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*
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* @group EKF2
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* @min 1.5
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* @max 5.0
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* @unit
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*/
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PARAM_DEFINE_FLOAT(EKF2_REQ_GDOP, 2.5f);
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/**
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* Maximum horizontal drift speed to use GPS.
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*
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* @group EKF2
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* @min 0.1
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* @max 1.0
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* @unit m/s
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*/
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PARAM_DEFINE_FLOAT(EKF2_REQ_HDRIFT, 0.3f);
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/**
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* Maximum vertical drift speed to use GPS.
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*
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* @group EKF2
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* @min 0.1
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* @max 1.5
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* @unit m/s
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*/
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PARAM_DEFINE_FLOAT(EKF2_REQ_VDRIFT, 0.5f);
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/**
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* Rate gyro noise for covariance prediction.
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*
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* @group EKF2
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* @min 0.0001
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* @max 0.01
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* @unit rad/s
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*/
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PARAM_DEFINE_FLOAT(EKF2_GYR_NOISE, 1.0e-3f);
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/**
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* Accelerometer noise for covariance prediction.
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*
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* @group EKF2
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* @min 0.01
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* @max 1.0
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* @unit m/s/s
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*/
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PARAM_DEFINE_FLOAT(EKF2_ACC_NOISE, 0.25f);
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/**
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* Process noise for delta angle bias prediction.
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*
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* @group EKF2
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* @min 0.0
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* @max 0.0001
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* @unit rad/s
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*/
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PARAM_DEFINE_FLOAT(EKF2_GYR_B_NOISE, 7.0e-5f);
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/**
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* Process noise for delta velocity z bias prediction.
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*
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* @group EKF2
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* @min 0.0
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* @max 0.01
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* @unit m/s/s
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*/
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PARAM_DEFINE_FLOAT(EKF2_ACC_B_NOISE, 1.0e-4f);
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/**
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* Process noise for delta angle scale factor prediction.
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*
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* @group EKF2
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* @min 0.0
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* @max 0.01
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* @unit None
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*/
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PARAM_DEFINE_FLOAT(EKF2_GYR_S_NOISE, 3.0e-3f);
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/**
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* Process noise for sensor bias and earth magnetic field prediction.
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*
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* @group EKF2
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* @min 0.0
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* @max 0.1
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* @unit Gauss/s
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*/
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PARAM_DEFINE_FLOAT(EKF2_MAG_B_NOISE, 2.5e-2f);
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/**
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* Process noise for wind velocity prediction.
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*
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* @group EKF2
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* @min 0.0
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* @max 1.0
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* @unit m/s/s
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*/
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PARAM_DEFINE_FLOAT(EKF2_WIND_NOISE, 1.0e-1f);
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/**
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* Measurement noise for gps horizontal velocity.
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*
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* @group EKF2
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* @min 0.01
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* @max 5.0
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* @unit m/s
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*/
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PARAM_DEFINE_FLOAT(EKF2_GPS_V_NOISE, 0.5f);
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/**
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* Measurement noise for gps position.
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*
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* @group EKF2
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* @min 0.01
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* @max 10.0
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* @unit m
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*/
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PARAM_DEFINE_FLOAT(EKF2_GPS_P_NOISE, 1.0f);
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/**
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* Measurement noise for non-aiding position hold.
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*
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* @group EKF2
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* @min 0.5
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* @max 50.0
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* @unit m
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*/
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PARAM_DEFINE_FLOAT(EKF2_NOAID_NOISE, 10.0f);
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/**
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* Measurement noise for barometric altitude.
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*
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* @group EKF2
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* @min 0.01
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* @max 15.0
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* @unit m
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*/
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PARAM_DEFINE_FLOAT(EKF2_BARO_NOISE, 3.0f);
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/**
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* Measurement noise for magnetic heading fusion.
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*
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* @group EKF2
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* @min 0.01
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* @max 1.0
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* @unit rad
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*/
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PARAM_DEFINE_FLOAT(EKF2_HEAD_NOISE, 0.17f);
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/**
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* Measurement noise for magnetometer 3-axis fusion.
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*
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* @group EKF2
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* @min 0.001
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* @max 1.0
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* @unit Gauss
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*/
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PARAM_DEFINE_FLOAT(EKF2_MAG_NOISE, 5.0e-2f);
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/**
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* Magnetic declination
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*
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* @group EKF2
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* @unit degrees
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*/
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PARAM_DEFINE_FLOAT(EKF2_MAG_DECL, 0);
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/**
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* Gate size for magnetic heading fusion
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*
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* @group EKF2
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* @min 1.0
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* @unit SD
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*/
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PARAM_DEFINE_FLOAT(EKF2_HDG_GATE, 3.0f);
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/**
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* Gate size for magnetometer XYZ component fusion
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*
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* @group EKF2
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* @min 1.0
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* @unit SD
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*/
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PARAM_DEFINE_FLOAT(EKF2_MAG_GATE, 3.0f);
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/**
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* Gate size for barometric height fusion
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*
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* @group EKF2
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* @min 1.0
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* @unit SD
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*/
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PARAM_DEFINE_FLOAT(EKF2_BARO_GATE, 3.0f);
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/**
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* Gate size for GPS horizontal position fusion
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*
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* @group EKF2
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* @min 1.0
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* @unit SD
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*/
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PARAM_DEFINE_FLOAT(EKF2_GPS_P_GATE, 3.0f);
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/**
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* Gate size for GPS velocity fusion
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*
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* @group EKF2
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* @min 1.0
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* @unit SD
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*/
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PARAM_DEFINE_FLOAT(EKF2_GPS_V_GATE, 3.0f);
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