EKF: Update default value for sideslip fusion noise

Use value obtained from tuning on replay logs
maxond · Nov 15, 2016 · 056ac3c · 056ac3c
1 parent 680a8f0
commit 056ac3c
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Showing 2 changed files with 7 additions and 6 deletions.
diff --git a/src/modules/ekf2/ekf2_main.cpp b/src/modules/ekf2/ekf2_main.cpp
@@ -208,7 +208,7 @@ class Ekf2 : public control::SuperBlock
  control::BlockParamExtFloat _mag_heading_noise; // measurement noise used for simple heading fusion
  control::BlockParamExtFloat _mag_noise; // measurement noise used for 3-axis magnetoemter fusion (Gauss)
  control::BlockParamExtFloat _eas_noise; // measurement noise used for airspeed fusion (std m/s)
- control::BlockParamExtFloat _beta_noise;  // synthetic sideslip noise (m/s)
+ control::BlockParamExtFloat _beta_noise; // synthetic sideslip noise (m/s)
  control::BlockParamExtFloat _mag_declination_deg;// magnetic declination in degrees
  control::BlockParamExtFloat _heading_innov_gate;// innovation gate for heading innovation test
  control::BlockParamExtFloat _mag_innov_gate; // innovation gate for magnetometer innovation test

diff --git a/src/modules/ekf2/ekf2_params.c b/src/modules/ekf2/ekf2_params.c
@@ -387,15 +387,16 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_NOISE, 5.0e-2f);
 PARAM_DEFINE_FLOAT(EKF2_EAS_NOISE, 1.4f);
 
 /**
- * Noise for syntetic sideslip fusion.
+ * Noise for synthetic sideslip fusion.
  *
  * @group EKF2
- * @min 0.5
- * @max 5.0
+ * @min 0.1
+ * @max 1.0
  * @unit m/s
- * @decimal 1
+ * @decimal 2
  */
-PARAM_DEFINE_FLOAT(EKF2_BETA_NOISE, 5.0f);
+PARAM_DEFINE_FLOAT(EKF2_BETA_NOISE, 0.3f);
+
 /**
  * Magnetic declination
  *