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ekf2: Update tuning parameters

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Set conservative defaults as a baseline for tuning
Add a missing parameter for magnetometer observation noise.
Correct error in definition of magnetic heading observations noise (previous parameter defined the variance directly, not the noise).
Update documentation and display names for consistency.
This commit is contained in:
Paul Riseborough
2016-02-03 17:07:42 +11:00
committed by tumbili
parent 4123da4963
commit 8f020d5a8f
2 changed files with 90 additions and 68 deletions
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23
src/modules/ekf2/ekf2_main.cpp
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@@ -170,7 +170,8 @@ private:
control::BlockParamFloat *_vel_innov_gate; // innovation gate for GPS velocity innovation test (std dev)
control::BlockParamFloat *_mag_heading_noise; // measurement noise used for simple heading fusion
control::BlockParamFloat *_mag_declination_deg; // magnetic declination in degrees
control::BlockParamFloat *_mag_noise; // measurement noise used for 3-axis magnetoemter fusion (Gauss)
control::BlockParamFloat *_mag_declination_deg; // magnetic declination in degrees
control::BlockParamFloat *_heading_innov_gate; // innovation gate for heading innovation test
control::BlockParamFloat *_mag_innov_gate; // innovation gate for magnetometer innovation test
@@ -201,15 +202,15 @@ Ekf2::Ekf2():
_ekf(new Ekf()),
_params(_ekf->getParamHandle()),
_mag_delay_ms(new control::BlockParamFloat(this, "EKF2_MAG_DELAY", false, &_params->mag_delay_ms)),
_baro_delay_ms(new control::BlockParamFloat(this, "EKF2_BARO_DELAY", false, &_params->baro_delay_ms)),
_baro_delay_ms(new control::BlockParamFloat(this, "EKF2_BARO_DELAY", false, &_params->baro_delay_ms)),
_gps_delay_ms(new control::BlockParamFloat(this, "EKF2_GPS_DELAY", false, &_params->gps_delay_ms)),
_airspeed_delay_ms(new control::BlockParamFloat(this, "EKF2_ASP_DELAY", false, &_params->airspeed_delay_ms)),
_gyro_noise(new control::BlockParamFloat(this, "EKF2_G_NOISE", false, &_params->gyro_noise)),
_accel_noise(new control::BlockParamFloat(this, "EKF2_ACC_NOISE", false, &_params->accel_noise)),
_gyro_bias_p_noise(new control::BlockParamFloat(this, "EKF2_GB_NOISE", false, &_params->gyro_bias_p_noise)),
_accel_bias_p_noise(new control::BlockParamFloat(this, "EKF2_ACCB_NOISE", false, &_params->accel_bias_p_noise)),
_gyro_scale_p_noise(new control::BlockParamFloat(this, "EKF2_GS_NOISE", false, &_params->gyro_scale_p_noise)),
_mag_p_noise(new control::BlockParamFloat(this, "EKF2_MAG_NOISE", false, &_params->mag_p_noise)),
_gyro_noise(new control::BlockParamFloat(this, "EKF2_GYR_NOISE", false, &_params->gyro_noise)),
_accel_noise(new control::BlockParamFloat(this, "EKF2_ACC_NOISE", false, &_params->accel_noise)),
_gyro_bias_p_noise(new control::BlockParamFloat(this, "EKF2_GYR_B_NOISE", false, &_params->gyro_bias_p_noise)),
_accel_bias_p_noise(new control::BlockParamFloat(this, "EKF2_ACC_B_NOISE", false, &_params->accel_bias_p_noise)),
_gyro_scale_p_noise(new control::BlockParamFloat(this, "EKF2_GYR_S_NOISE", false, &_params->gyro_scale_p_noise)),
_mag_p_noise(new control::BlockParamFloat(this, "EKF2_MAG_B_NOISE", false, &_params->mag_p_noise)),
_wind_vel_p_noise(new control::BlockParamFloat(this, "EKF2_WIND_NOISE", false, &_params->wind_vel_p_noise)),
_gps_vel_noise(new control::BlockParamFloat(this, "EKF2_GPS_V_NOISE", false, &_params->gps_vel_noise)),
_gps_pos_noise(new control::BlockParamFloat(this, "EKF2_GPS_P_NOISE", false, &_params->gps_pos_noise)),
@@ -218,7 +219,8 @@ Ekf2::Ekf2():
_posNE_innov_gate(new control::BlockParamFloat(this, "EKF2_GPS_P_GATE", false, &_params->posNE_innov_gate)),
_vel_innov_gate(new control::BlockParamFloat(this, "EKF2_GPS_V_GATE", false, &_params->vel_innov_gate)),
_mag_heading_noise(new control::BlockParamFloat(this, "EKF2_HEAD_NOISE", false, &_params->mag_heading_noise)),
_mag_declination_deg(new control::BlockParamFloat(this, "EKF2_MAG_DECL", false, &_params->mag_declination_deg)),
_mag_noise(new control::BlockParamFloat(this, "EKF2_MAG_NOISE", false, &_params->mag_noise)),
_mag_declination_deg(new control::BlockParamFloat(this, "EKF2_MAG_DECL", false, &_params->mag_declination_deg)),
_heading_innov_gate(new control::BlockParamFloat(this, "EKF2_HDG_GATE", false, &_params->heading_innov_gate)),
_mag_innov_gate(new control::BlockParamFloat(this, "EKF2_MAG_GATE", false, &_params->mag_innov_gate)),
_gps_check_mask(new control::BlockParamInt(this, "EKF2_GPS_CHECK", false, &_params->gps_check_mask)),
@@ -228,8 +230,7 @@ Ekf2::Ekf2():
_requiredNsats(new control::BlockParamInt(this, "EKF2_REQ_NSATS", false, &_params->req_nsats)),
_requiredGDoP(new control::BlockParamFloat(this, "EKF2_REQ_GDOP", false, &_params->req_gdop)),
_requiredHdrift(new control::BlockParamFloat(this, "EKF2_REQ_HDRIFT", false, &_params->req_hdrift)),
_requiredVdrift(new control::BlockParamFloat(this, "EKF2_REQ_VDRIFT", false, &_params->req_vdrift))
_requiredVdrift(new control::BlockParamFloat(this, "EKF2_REQ_VDRIFT", false, &_params->req_vdrift))
{
}