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Hotfix: Reduce mag influence on att estimate

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Lorenz Meier
2013-12-27 15:46:50 +01:00
parent d5c857615b
commit c5ef295f68
1 changed files with 7 additions and 5 deletions
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12
src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c
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@@ -52,11 +52,13 @@ PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q3, 0.005f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q4, 0.0f);
/* gyro measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V3_R0, 0.0008f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_R1, 10000.0f);
PARAM_DEFINE_FLOAT(EKF_ATT_V3_R2, 1.0f);
/* accelerometer measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V3_R3, 0.0f);
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R0, 0.0008f);
/* accel measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R1, 10000.0f);
/* mag measurement noise */
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R2, 100.0f);
/* offset estimation - UNUSED */
PARAM_DEFINE_FLOAT(EKF_ATT_V4_R3, 0.0f);
/* offsets in roll, pitch and yaw of sensor plane and body */
PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f);