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Code Issues Releases Activity

OP-1483 enable postfilter for indoor mode for filter debugging, change default filter alpha coefficient to 0.999

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This commit is contained in:
Corvus Corax 2014-09-21 19:26:01 +02:00
parent 76f94e13ef
commit 41e062373d
2 changed files with 5 additions and 2 deletions
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5
flight/modules/StateEstimation/stateestimation.c
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@ -219,7 +219,10 @@ static const filterPipeline *ekf13iQueue = &(filterPipeline) {
.filter = &stationaryFilter,
.next = &(filterPipeline) {
.filter = &ekf13iFilter,
.next = NULL,
.next = &(filterPipeline) {
.filter = &velocityFilter,
.next = NULL,
}
}
}
}

2
shared/uavobjectdefinition/revosettings.xml
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@ -18,7 +18,7 @@
<!-- Coefficient for velocity estimate post processing low pass filter
- filters velocity bias based on delta position to compensate offsets coming from EKF -->
<field name="VelocityPostProcessingLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.9999"/>
<field name="VelocityPostProcessingLowPassAlpha" units="" type="float" elements="1" defaultvalue="0.999"/>
<access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="true" updatemode="onchange" period="0"/>