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PX4 / PX4-Autopilot

PX4 Autopilot Software
https://px4.io
BSD 3-Clause "New" or "Revised" License
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Tuning Gains EKF #2476

Closed boosfelm closed 9 years ago

boosfelm commented 9 years ago

As discussed posting our tuning values for Sensor and Bias noise, which led to much better estimation results. Thanks @surberj for testing this. It has to be noted that this can be really aircraft specific so please be catious when testing. In our case the Pixhawk is embedded in a foam structure of a VTOL tailsitter design.

PE_ABIAS_PNOISE = 1.0e-5 PE_ACC_PNOISE = 0.05 PE_POSD_NOISE = 1.25 (estimator diverged at PE_POSD_NOISE = 3.0) PE_VELD_NOISE = 0.3 (estimator diverged at PE_VELD_NOISE = 0.05)

According to the data PE_POSD_NOISE = 2.0 and PE_VELD_NOISE = 0.15 look best, but we have not enough evidence. I would rather choose a trade-off between enhancing and staying near the working solution (which surely does not diverge), i.e, PE_POSD_NOISE = 1.25 PE_VELD_NOISE = 0.3

This might also help on #1902.

LorenzMeier commented 9 years ago

Thanks! I took your suggestion into this PR: https://github.com/PX4/Firmware/pull/2478

LorenzMeier commented 9 years ago

Since this is merged, closing, thanks!

boosfelm commented 9 years ago

great, happy to contribute. Yesterday we did 4 flights about 10-15 min each with master_release (+ our own attitude control module) in different modes, namely fw att control, fw altitude control, fw position control, loiter, mission and LPOS_Z was off by 0.2 to 1.9 m, which seems pretty good to me.