diff options
| author | Keith Packard <keithp@keithp.com> | 2011-03-22 16:55:08 +0900 |
|---|---|---|
| committer | Keith Packard <keithp@keithp.com> | 2011-03-22 21:53:34 +0900 |
| commit | 3d2042ccc2d29e4cb8ea39c5c69d07cb7e3daeea (patch) | |
| tree | 20624fa73adce449cc1f89f228b0cbc4917c9ed0 | |
| parent | 7d7b476564a16eda81ab3406f70a21995e1b464e (diff) | |
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 <keithp@keithp.com>
| -rw-r--r-- | src/make-kalman | 20 |
1 files 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 |