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Code Issues Releases Activity

changed default variances for EKF to more sensible values

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Corvus Corax 2013-04-28 01:25:11 +02:00
parent 98c90a67f5
commit a817558264
1 changed files with 5 additions and 5 deletions
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10
shared/uavobjectdefinition/revocalibration.xml
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@ -6,17 +6,17 @@
<!-- Sensor noises -->
<field name="accel_bias" units="m/s" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
<field name="accel_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1,1,1"/>
<field name="accel_var" units="(m/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="0.01"/>
<field name="accel_var" units="(m/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="10,10,10"/>
<field name="gyro_bias" units="deg/s" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
<field name="gyro_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1,1,1"/>
<field name="gyro_var" units="(deg/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="0.01"/>
<field name="gyro_var" units="(deg/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="0.1,0.1,0.1"/>
<field name="gyro_tempcoeff" units="(deg/s)/deg" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
<field name="mag_bias" units="mGau" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/>
<field name="mag_scale" units="gain" type="float" elementnames="X,Y,Z" defaultvalue="1"/>
<field name="mag_var" units="mGau^2" type="float" elementnames="X,Y,Z" defaultvalue="0.01,0.01,10"/>
<field name="mag_var" units="mGau^2" type="float" elementnames="X,Y,Z" defaultvalue="1,1,1"/>
<field name="gps_var" units="m^2" type="float" elementnames="Pos,Vel" defaultvalue="1,1"/>
<field name="baro_var" units="m^2" type="float" elements="1" defaultvalue="1"/>
<field name="gps_var" units="m^2" type="float" elementnames="Pos,Vel" defaultvalue="1,0.1"/>
<field name="baro_var" units="m^2" type="float" elements="1" defaultvalue="0.1"/>
<!-- These settings are related to how the sensors are post processed -->
<field name="BiasCorrectedRaw" units="" type="enum" elements="1" options="FALSE,TRUE" defaultvalue="TRUE"/>