From ec738c58f97b0a96f7fbfc1c213c7e729be76b5d Mon Sep 17 00:00:00 2001 From: Matej Petrlik Date: Sun, 21 Apr 2024 22:28:23 +0200 Subject: [PATCH] added a comment regarding altitude fusion --- config/public/gps_baro/alt_baro.yaml | 15 +-------------- 1 file changed, 1 insertion(+), 14 deletions(-) diff --git a/config/public/gps_baro/alt_baro.yaml b/config/public/gps_baro/alt_baro.yaml index 4721e78..db2ee2a 100644 --- a/config/public/gps_baro/alt_baro.yaml +++ b/config/public/gps_baro/alt_baro.yaml @@ -18,23 +18,10 @@ mrs_uav_managers: acc: 1.0 # acceleration state corrections: [ - # TODO next camp: check if velocity only fusion is ok, check pixhawk altitude manual mode stabilization vs mrs baro altitude stabilization - # "pos_baro", + # positional correction only makes the estimator unstable, vel_hw_api is not a derivative of pos_hw_api, vel_hw_api_only works best "vel_hw_api" ] - pos_baro: - state_id: 0 # 0 - position, 1 - velocity, 2 - acceleration - noise: 10000.0 # measurement noise covariance (R) - noise_unhealthy_coeff: 100.0 # covariance gets multiplied by this coefficient when correction is unhealthy (R) - message: - type: "geometry_msgs/PointStamped" - topic: "hw_api/position" # without uav namespace - limit: - delay: 0.5 # [s] messages with higher delay will flag correction as unhealthy - time_since_last: 0.5 # [s] larger time step between messages will flag correction as unhealthy - processors: [] # types of processors attached to this measurement - vel_hw_api: state_id: 1 # 0 - position, 1 - velocity, 2 - acceleration noise: 0.001 # measurement noise covariance (R)