altb_pmic
/
Test_ekf
Testing ekf implementation for Quadro_1.
Diff: EKF_RP.cpp
- Revision:
- 9:be2e1d2f683d
- Parent:
- 8:a72cd6356bab
- Child:
- 13:2e03d9c03409
--- a/EKF_RP.cpp Sun Oct 20 14:16:34 2019 +0000 +++ b/EKF_RP.cpp Sun Oct 20 16:30:34 2019 +0000 @@ -7,10 +7,10 @@ { this->Ts = Ts; /* [n_gyro; n_b_g; n_v] */ - var_fx << 0.1f, 0.1f, 0.002f, 0.002f, 0.001f, 0.001f; + var_fx << 0.01f, 0.01f, 0.0001f, 0.0001f, 0.0001f, 0.0001f; /* [n_acc] */ - var_gy << 40.0f, 40.0f; - rho = 5.0f; + var_gy << 45.0f, 45.0f; + rho = 0.5f; kv = 0.5f; /* k1/m */ g = 9.81f; reset();