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[ins] INS invariant filter can use GPS heading instead of magneto

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Gautier Hattenberger
2019-05-17 18:26:29 +02:00
committed by Freek van Tienen
parent bfb678dc01
commit 69df254c26
6 changed files with 97 additions and 56 deletions
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conf/settings/estimation/ins_float_invariant.xml
-22
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@@ -1,22 +0,0 @@
<!DOCTYPE settings SYSTEM "../settings.dtd">
<settings target="ap|nps">
<dl_settings>
<dl_settings NAME="invariant">
<dl_setting MAX="1" MIN="1" STEP="1" VAR="ins_float_inv.reset" shortname="reset"/>
<dl_setting MAX="10" MIN="0." STEP="0.001" VAR="ins_float_inv.gains.lv" shortname="lv" module="subsystems/ins/ins_float_invariant"/>
<dl_setting MAX="10" MIN="0." STEP="0.001" VAR="ins_float_inv.gains.lb" shortname="lb"/>
<dl_setting MAX="10" MIN="0." STEP="0.001" VAR="ins_float_inv.gains.mv" shortname="mv"/>
<dl_setting MAX="10" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.mh" shortname="mh"/>
<dl_setting MAX="20" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.nx" shortname="nx"/>
<dl_setting MAX="10" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.nxz" shortname="nxz"/>
<dl_setting MAX="30" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.mvz" shortname="mvz"/>
<dl_setting MAX="5" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.nh" shortname="nh"/>
<dl_setting MAX="5" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.ov" shortname="ov"/>
<dl_setting MAX="3" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.ob" shortname="ob"/>
<dl_setting MAX="10" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.rv" shortname="rv"/>
<dl_setting MAX="10" MIN="0." STEP="0.01" VAR="ins_float_inv.gains.rh" shortname="rh"/>
<dl_setting MAX="1" MIN="0." STEP="0.001" VAR="ins_float_inv.gains.sh" shortname="sh"/>
</dl_settings>
</dl_settings>
</settings>