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ekf2: Add position observation noise parameter for flying without GPS

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A larger position uncertainty is required when flying without GPS to reduce tilt attitude estimation errors caused by vehicle manoeuvring. This needs to be tuneable to allow optimisation for different use cases (e.g. outdoor vs indoor).
This commit is contained in:
Paul Riseborough
2016-02-03 18:41:38 +11:00
committed by tumbili
parent 8f020d5a8f
commit a37daf4cec
2 changed files with 14 additions and 2 deletions
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6
src/modules/ekf2/ekf2_main.cpp
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@@ -164,7 +164,8 @@ private:
control::BlockParamFloat *_gps_vel_noise;
control::BlockParamFloat *_gps_pos_noise;
control::BlockParamFloat *_baro_noise;
control::BlockParamFloat *_pos_noaid_noise;
control::BlockParamFloat *_baro_noise;
control::BlockParamFloat *_baro_innov_gate; // innovation gate for barometric height innovation test (std dev)
control::BlockParamFloat *_posNE_innov_gate; // innovation gate for GPS horizontal position innovation test (std dev)
control::BlockParamFloat *_vel_innov_gate; // innovation gate for GPS velocity innovation test (std dev)
@@ -214,7 +215,8 @@ Ekf2::Ekf2():
_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)),
_baro_noise(new control::BlockParamFloat(this, "EKF2_BARO_NOISE", false, &_params->baro_noise)),
_pos_noaid_noise(new control::BlockParamFloat(this, "EKF2_NOAID_NOISE", false, &_params->pos_noaid_noise)),
_baro_noise(new control::BlockParamFloat(this, "EKF2_BARO_NOISE", false, &_params->baro_noise)),
_baro_innov_gate(new control::BlockParamFloat(this, "EKF2_BARO_GATE", false, &_params->baro_innov_gate)),
_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)),

10
src/modules/ekf2/ekf2_params.c
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@@ -260,6 +260,16 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_V_NOISE, 0.5f);
*/
PARAM_DEFINE_FLOAT(EKF2_GPS_P_NOISE, 1.0f);
/**
* Measurement noise for non-aiding position hold.
*
* @group EKF2
* @min 0.5
* @max 50.0
* @unit m
*/
PARAM_DEFINE_FLOAT(EKF2_NOAID_NOISE, 10.0f);
/**
* Measurement noise for barometric altitude.
*