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adjusted initial variances and defaults to be closer to the original values to reduce possibly negative impacts of the previous changesets

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Corvus Corax 2013-04-28 21:17:51 +02:00
parent 6e2c9b3c46
commit c06f049e2a
3 changed files with 5 additions and 5 deletions
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6
flight/modules/Attitude/revolution/attitude.c
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@ -662,9 +662,9 @@ static int32_t updateAttitudeINSGPS(bool first_run, bool outdoor_mode)
if (init_stage == 0) { if (init_stage == 0) {
float Pdiag[13]={ float Pdiag[13]={
25.0f, 25.0f, 25.0f, // initial position variance - 5 meters mean uncertainty (5²=25) 25.0f, 25.0f, 25.0f, // initial position variance - 5 meters mean uncertainty (5²=25)
4.0f, 4.0f, 4.0f, // initial velocity variance - 2 m/s mean uncertainty 5.0f, 5.0f, 5.0f, // initial velocity variance - 2.2 m/s mean uncertainty
2e-6f, 2e-6f, 2e-6f, 2e-6f, // initial orientation variance - 5 deg (sin((5*(pi/180)))² ~ 2e-6) 7e-3f, 7e-3f, 7e-3f, 7e-3f, // initial orientation variance - 5 deg (sin(5°)² ~ 7e-3)
8e-3f, 8e-3f, 8e-3f, // initial gyro drift variance - 5 deg/s ((5*(pi/180))² ~ 0.008 ) 1e-4f, 1e-4f, 1e-4f, // initial gyro drift variance - 0.6 deg/s (sin(0.6°)² ~ 1e-4)
}; };
float q[4]; float q[4];
float pos[3] = {0.0f, 0.0f, 0.0f}; float pos[3] = {0.0f, 0.0f, 0.0f};

2
shared/uavobjectdefinition/ekfstatevariance.xml
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@ -4,7 +4,7 @@
<field name="P" units="1^2" type="float" elements="13"/> <field name="P" units="1^2" type="float" elements="13"/>
<access gcs="readwrite" flight="readwrite"/> <access gcs="readwrite" flight="readwrite"/>
<telemetrygcs acked="false" updatemode="manual" period="0"/> <telemetrygcs acked="false" updatemode="manual" period="0"/>
<telemetryflight acked="false" updatemode="periodic" period="1000"/> <telemetryflight acked="false" updatemode="periodic" period="10000"/>
<logging updatemode="manual" period="0"/> <logging updatemode="manual" period="0"/>
</object> </object>
</xml> </xml>

2
shared/uavobjectdefinition/revocalibration.xml
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@ -10,7 +10,7 @@
<field name="gyro_bias" units="deg/s" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/> <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_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="0.1,0.1,0.1"/> <field name="gyro_var" units="(deg/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="0.1,0.1,0.1"/>
<field name="gyro_bias_var" units="(deg/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="0.00000001,0.00000001,0.00000001"/> <field name="gyro_bias_var" units="(deg/s)^2" type="float" elementnames="X,Y,Z" defaultvalue="0.00000002,0.00000002,0.00000002"/>
<field name="mag_bias" units="mGau" type="float" elementnames="X,Y,Z" defaultvalue="0,0,0"/> <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_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="1,1,1"/> <field name="mag_var" units="mGau^2" type="float" elementnames="X,Y,Z" defaultvalue="1,1,1"/>