HAPSRG / solaESKF_Eigen

Eigen

Dependencies:   Eigen

Dependents:   optWingforHAPS_Eigen hexaTest_Eigen

Diff: ScErrStateEKF.cpp

Revision:
34:dec4b37db3f1
Parent:
32:321a756e12ad
Child:
38:1f6532849c05
--- a/ScErrStateEKF.cpp	Wed Sep 29 04:54:44 2021 +0000
+++ b/ScErrStateEKF.cpp	Fri Oct 08 08:11:17 2021 +0000
@@ -13,9 +13,9 @@
     nState = errState.getRows();
     qhat << 1.0f << 0.0f << 0.0f << 0.0f;
     
-    setDiag(Phat,0.1f);
-    setDiag(Phatbg,0.1f);
-    setQqerr(0.000005f);
+    setDiag(Phat,0.1f);  //0.1
+    setDiag(Phatbg,0.0001f);
+    setQqerr(0.0000005f);  //0.000005
     setQgbias(0.001f);
     setQabias(0.00001f);
     setQv(0.0001f);
@@ -27,9 +27,12 @@
     //ジャイロバイアスに関する制約
     setDiag(Rgsc,500.0f);
     
+    //地磁気（未使用）
     setDiag(Rm,5.0f);
     
+    //GPS
     setDiag(Rgps,5.5f);
+    //降下速度
     setDiag(Rsr,5.5f);
     
     for(int i = 0; i<10;i++){