From e783a414f217666afeab9e3f94d07dd7f970a422 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Niccol=C3=B2=20Betto?= <niccolo.betto@skywarder.eu>
Date: Tue, 10 Sep 2024 16:27:46 +0200
Subject: [PATCH] [Payload][NAS] Update to latest config
---
src/boards/Payload/Configs/NASConfig.h | 26 +++++++++++++-------------
1 file changed, 13 insertions(+), 13 deletions(-)
diff --git a/src/boards/Payload/Configs/NASConfig.h b/src/boards/Payload/Configs/NASConfig.h
index b6c069865..f26f950da 100644
--- a/src/boards/Payload/Configs/NASConfig.h
+++ b/src/boards/Payload/Configs/NASConfig.h
@@ -44,19 +44,19 @@ constexpr unsigned int CALIBRATION_SLEEP_TIME = 100; // [ms]
static const Boardcore::NASConfig CONFIG = {
.T = UPDATE_RATE_SECONDS,
.SIGMA_BETA = 0.0001,
- .SIGMA_W = 0.3,
- .SIGMA_ACC = 0.1,
- .SIGMA_MAG = 0.1,
- .SIGMA_GPS = {0.002f, 0.002f, 0.01f / 30.0f, 0.01f / 30.0f},
- .SIGMA_BAR = 50.0,
- .SIGMA_POS = 10.0,
- .SIGMA_VEL = 10.0,
- .SIGMA_PITOT = 10e-3,
- .P_POS = 1.0,
- .P_POS_VERTICAL = 10.0,
- .P_VEL = 1.0,
- .P_VEL_VERTICAL = 10.0,
- .P_ATT = 0.01,
+ .SIGMA_W = 0.0019,
+ .SIGMA_ACC = 0.202,
+ .SIGMA_MAG = 0.0047,
+ .SIGMA_GPS = {0.0447f, 0.0447f, 0.1f / 30.0f, 0.1f / 30.0f},
+ .SIGMA_BAR = 4.5097,
+ .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,
.NED_MAG = Common::ReferenceConfig::nedMag};
--
GitLab