Eigen
Dependencies: Eigen
Dependents: optWingforHAPS_Eigen hexaTest_Eigen
Diff: ScErrStateEKF.cpp
- Revision:
- 34:dec4b37db3f1
- Parent:
- 32:321a756e12ad
- Child:
- 38:1f6532849c05
diff -r b96850d1f87b -r dec4b37db3f1 ScErrStateEKF.cpp --- 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++){