From 3d2042ccc2d29e4cb8ea39c5c69d07cb7e3daeea Mon Sep 17 00:00:00 2001 From: Keith Packard Date: Tue, 22 Mar 2011 16:55:08 +0900 Subject: [PATCH] altos: Restore sensible kalman values Now that the kalman code seems to work correctly, restore the sensor errors and model errors to match reality Signed-off-by: Keith Packard --- src/make-kalman | 20 +++++++++----------- 1 file changed, 9 insertions(+), 11 deletions(-) diff --git a/src/make-kalman b/src/make-kalman index 80157c6b..6fb181ec 100644 --- a/src/make-kalman +++ b/src/make-kalman @@ -2,17 +2,15 @@ cd ../kalman -SIGMA_ACCEL_MODEL=1 -SIGMA_BARO_MEASURE=8 -SIGMA_ACCEL_MEASURE=4 +SIGMA_BOTH="-M 2 -H 4 -A 4" +SIGMA_BARO="-M 2 -H 4 -A 4" +SIGMA_ACCEL="-M 2 -H 4 -A 4" -SIGMA="-M $SIGMA_ACCEL_MODEL -H $SIGMA_BARO_MEASURE -A $SIGMA_ACCEL_MEASURE" +nickle kalman.5c -p AO_BOTH -c both -t 0.01 $SIGMA_BOTH +nickle kalman.5c -p AO_BOTH -c both -t 0.1 $SIGMA_BOTH -nickle kalman.5c -p AO_BOTH -c both -t 0.01 $SIGMA -nickle kalman.5c -p AO_BOTH -c both -t 0.1 $SIGMA +nickle kalman.5c -p AO_ACCEL -c accel -t 0.01 $SIGMA_ACCEL +nickle kalman.5c -p AO_ACCEL -c accel -t 0.1 $SIGMA_ACCEL -nickle kalman.5c -p AO_ACCEL -c accel -t 0.01 $SIGMA -nickle kalman.5c -p AO_ACCEL -c accel -t 0.1 $SIGMA - -nickle kalman.5c -p AO_BARO -c baro -t 0.01 $SIGMA -nickle kalman.5c -p AO_BARO -c baro -t 0.1 $SIGMA +nickle kalman.5c -p AO_BARO -c baro -t 0.01 $SIGMA_BARO +nickle kalman.5c -p AO_BARO -c baro -t 0.1 $SIGMA_BARO -- 2.30.2