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Fixes to estimator and HIL startup script

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This commit is contained in:
Lorenz Meier
2013-07-04 15:45:32 +02:00
parent f42b3ecd96
commit b01673d1d8
3 changed files with 7 additions and 7 deletions
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4
ROMFS/px4fmu_common/init.d/rc.hil
View File

@@ -54,13 +54,13 @@ sh /etc/init.d/rc.sensors
#
# Start the attitude estimator (depends on orb)
#
kalman_demo start
att_pos_estimator_ekf start
#
# Load mixer and start controllers (depends on px4io)
#
mixer load /dev/pwm_output /etc/mixers/FMU_AET.mix
control_demo start
fixedwing_backside start
echo "[HIL] setup done, running"

2
src/modules/att_pos_estimator_ekf/KalmanNav.cpp
View File

@@ -262,7 +262,7 @@ void KalmanNav::update()
lat, lon, alt);
}
// prediciton step
// prediction step
// using sensors timestamp so we can account for packet lag
float dt = (_sensors.timestamp - _predictTimeStamp) / 1.0e6f;
//printf("dt: %15.10f\n", double(dt));

8
src/modules/att_pos_estimator_ekf/params.c
View File

@@ -36,10 +36,10 @@
/*PARAM_DEFINE_FLOAT(NAME,0.0f);*/
PARAM_DEFINE_FLOAT(KF_V_GYRO, 0.008f);
PARAM_DEFINE_FLOAT(KF_V_ACCEL, 1.0f);
PARAM_DEFINE_FLOAT(KF_R_MAG, 1.0f);
PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 1.0f);
PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 5.0f);
PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 5.0f);
PARAM_DEFINE_FLOAT(KF_R_MAG, 0.8f);
PARAM_DEFINE_FLOAT(KF_R_GPS_VEL, 0.5f);
PARAM_DEFINE_FLOAT(KF_R_GPS_POS, 2.0f);
PARAM_DEFINE_FLOAT(KF_R_GPS_ALT, 3.0f);
PARAM_DEFINE_FLOAT(KF_R_PRESS_ALT, 0.1f);
PARAM_DEFINE_FLOAT(KF_R_ACCEL, 1.0f);
PARAM_DEFINE_FLOAT(KF_FAULT_POS, 10.0f);