From 9567691321dd42c400a92baf1e56eff8fbbb357d Mon Sep 17 00:00:00 2001 From: Davide Basso <davide.basso@skywarder.eu> Date: Sat, 12 Apr 2025 15:23:37 +0200 Subject: [PATCH] [Parafoil] Change NAS config --- src/MockupMain/Configs/NASConfig.h | 30 +++++++++++++++--------------- src/Parafoil/Configs/NASConfig.h | 30 +++++++++++++++--------------- 2 files changed, 30 insertions(+), 30 deletions(-) diff --git a/src/MockupMain/Configs/NASConfig.h b/src/MockupMain/Configs/NASConfig.h index 09d9239c7..7009a2e45 100644 --- a/src/MockupMain/Configs/NASConfig.h +++ b/src/MockupMain/Configs/NASConfig.h @@ -47,22 +47,22 @@ constexpr auto CALIBRATION_SLEEP_TIME = 100_ms; static const Boardcore::NASConfig CONFIG = { .T = UPDATE_RATE_SECONDS.value(), - .SIGMA_BETA = 0.0001, - .SIGMA_W = 0.0019, - .SIGMA_ACC = 0.202, - .SIGMA_MAG = 0.0047, + .SIGMA_BETA = 0.0001f, + .SIGMA_W = 0.3f, + .SIGMA_ACC = 0.1f, + .SIGMA_MAG = 0.1f, .SIGMA_GPS = {0.0447f, 0.0447f, 1.0f / 30.0f, 1.0f / 30.0f}, - .SIGMA_BAR = 4.5097f, - .SIGMA_POS = 2.0, - .SIGMA_VEL = 1.0, - .SIGMA_PITOT = 1e-3, - .P_POS = 0.0, - .P_POS_VERTICAL = 0.0, - .P_VEL = 0.0, - .P_VEL_VERTICAL = 0.0, - .P_ATT = 0.1, - .P_BIAS = 0.01, - .SATS_NUM = 6.0, + .SIGMA_BAR = 4.3f, + .SIGMA_POS = 10.0f, + .SIGMA_VEL = 10.0f, + .SIGMA_PITOT = 10.0f, + .P_POS = 1.0f, + .P_POS_VERTICAL = 10.0f, + .P_VEL = 1.0f, + .P_VEL_VERTICAL = 10.0f, + .P_ATT = 0.01f, + .P_BIAS = 0.01f, + .SATS_NUM = 6.0f, .NED_MAG = Common::ReferenceConfig::nedMag}; // Only use one out of every 50 samples (1 Hz) diff --git a/src/Parafoil/Configs/NASConfig.h b/src/Parafoil/Configs/NASConfig.h index 33f5d1492..f9629fb1a 100644 --- a/src/Parafoil/Configs/NASConfig.h +++ b/src/Parafoil/Configs/NASConfig.h @@ -47,22 +47,22 @@ constexpr auto CALIBRATION_SLEEP_TIME = 100_ms; static const Boardcore::NASConfig CONFIG = { .T = UPDATE_RATE_SECONDS.value(), - .SIGMA_BETA = 0.0001, - .SIGMA_W = 0.0019, - .SIGMA_ACC = 0.202, - .SIGMA_MAG = 0.0047, + .SIGMA_BETA = 0.0001f, + .SIGMA_W = 0.3f, + .SIGMA_ACC = 0.1f, + .SIGMA_MAG = 0.1f, .SIGMA_GPS = {0.0447f, 0.0447f, 1.0f / 30.0f, 1.0f / 30.0f}, - .SIGMA_BAR = 4.5097f, - .SIGMA_POS = 2.0, - .SIGMA_VEL = 1.0, - .SIGMA_PITOT = 1e-3, - .P_POS = 0.0, - .P_POS_VERTICAL = 0.0, - .P_VEL = 0.0, - .P_VEL_VERTICAL = 0.0, - .P_ATT = 0.1, - .P_BIAS = 0.01, - .SATS_NUM = 6.0, + .SIGMA_BAR = 4.3f, + .SIGMA_POS = 10.0f, + .SIGMA_VEL = 10.0f, + .SIGMA_PITOT = 10.0f, + .P_POS = 1.0f, + .P_POS_VERTICAL = 10.0f, + .P_VEL = 1.0f, + .P_VEL_VERTICAL = 10.0f, + .P_ATT = 0.01f, + .P_BIAS = 0.01f, + .SATS_NUM = 6.0f, .NED_MAG = Common::ReferenceConfig::nedMag}; // Only use one out of every 50 samples (1 Hz) -- GitLab