Merge pull request #310 from PX4/att_fix

fixed attitude estimator params

src/modules/attitude_estimator_ekf/attitude_estimator_ekf_params.c

@@ -44,42 +44,42 @@
 /* Extended Kalman Filter covariances */
 
 /* gyro process noise */
-PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q0, 1e-4f);
-PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q1, 0.08f);
-PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q2, 0.009f);
+PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q0, 1e-4f);
+PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q1, 0.08f);
+PARAM_DEFINE_FLOAT(EKF_ATT_V3_Q2, 0.009f);
 /* gyro offsets process noise */
-PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q3, 0.005f);
-PARAM_DEFINE_FLOAT(EKF_ATT_V2_Q4, 0.0f);
+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_V2_R0, 0.0008f);
-PARAM_DEFINE_FLOAT(EKF_ATT_V2_R1, 0.8f);
-PARAM_DEFINE_FLOAT(EKF_ATT_V2_R2, 1.0f);
+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_V2_R3, 0.0f);
+PARAM_DEFINE_FLOAT(EKF_ATT_V3_R3, 0.0f);
 
 /* offsets in roll, pitch and yaw of sensor plane and body */
-PARAM_DEFINE_FLOAT(ATT_ROLL_OFFS, 0.0f);
-PARAM_DEFINE_FLOAT(ATT_PITCH_OFFS, 0.0f);
-PARAM_DEFINE_FLOAT(ATT_YAW_OFFS, 0.0f);
+PARAM_DEFINE_FLOAT(ATT_ROLL_OFF3, 0.0f);
+PARAM_DEFINE_FLOAT(ATT_PITCH_OFF3, 0.0f);
+PARAM_DEFINE_FLOAT(ATT_YAW_OFF3, 0.0f);
 
 int parameters_init(struct attitude_estimator_ekf_param_handles *h)
 {
 	/* PID parameters */
-	h->q0 	=	param_find("EKF_ATT_V2_Q0");
-	h->q1 	=	param_find("EKF_ATT_V2_Q1");
-	h->q2 	=	param_find("EKF_ATT_V2_Q2");
-	h->q3 	=	param_find("EKF_ATT_V2_Q3");
-	h->q4 	=	param_find("EKF_ATT_V2_Q4");
+	h->q0 	=	param_find("EKF_ATT_V3_Q0");
+	h->q1 	=	param_find("EKF_ATT_V3_Q1");
+	h->q2 	=	param_find("EKF_ATT_V3_Q2");
+	h->q3 	=	param_find("EKF_ATT_V3_Q3");
+	h->q4 	=	param_find("EKF_ATT_V3_Q4");
 
-	h->r0 	=	param_find("EKF_ATT_V2_R0");
-	h->r1 	=	param_find("EKF_ATT_V2_R1");
-	h->r2 	=	param_find("EKF_ATT_V2_R2");
-	h->r3 	=	param_find("EKF_ATT_V2_R3");
+	h->r0 	=	param_find("EKF_ATT_V3_R0");
+	h->r1 	=	param_find("EKF_ATT_V3_R1");
+	h->r2 	=	param_find("EKF_ATT_V3_R2");
+	h->r3 	=	param_find("EKF_ATT_V3_R3");
 
-	h->roll_off  =	param_find("ATT_ROLL_OFFS");
-	h->pitch_off =	param_find("ATT_PITCH_OFFS");
-	h->yaw_off   =	param_find("ATT_YAW_OFFS");
+	h->roll_off  =	param_find("ATT_ROLL_OFF3");
+	h->pitch_off =	param_find("ATT_PITCH_OFF3");
+	h->yaw_off   =	param_find("ATT_YAW_OFF3");
 
 	return OK;
 }