shared/uavobjectdefinition/ekfconfiguration.xml

   1 <xml>
   2     <object name="EKFConfiguration" singleinstance="true" settings="true" category="State">
   3         <description>Extended Kalman Filter initialisation</description>
   4         <field name="P" units="1^2" type="float" defaultvalue="
   5                 25.0, 25.0, 25.0,
   6                 5.0, 5.0, 5.0,
   7                 0.00001, 0.00001, 0.00001, 0.00001,
   8                 0.000001, 0.000001, 0.000001">
   9                 <elementnames>
  10                         <elementname>PositionNorth</elementname>
  11                         <elementname>PositionEast</elementname>
  12                         <elementname>PositionDown</elementname>
  13                         <elementname>VelocityNorth</elementname>
  14                         <elementname>VelocityEast</elementname>
  15                         <elementname>VelocityDown</elementname>
  16                         <elementname>AttitudeQ1</elementname>
  17                         <elementname>AttitudeQ2</elementname>
  18                         <elementname>AttitudeQ3</elementname>
  19                         <elementname>AttitudeQ4</elementname>
  20                         <elementname>GyroDriftX</elementname>
  21                         <elementname>GyroDriftY</elementname>
  22                         <elementname>GyroDriftZ</elementname>
  23                 </elementnames>
  24         </field>
  25         <field name="Q" units="1^2" type="float" defaultvalue="
  26                 0.001, 0.001, 0.001,
  27                 0.003, 0.003, 0.003,
  28                 0.000001, 0.000001, 0.000001">
  29                 <elementnames>
  30                         <elementname>GyroX</elementname>
  31                         <elementname>GyroY</elementname>
  32                         <elementname>GyroZ</elementname>
  33                         <elementname>AccelX</elementname>
  34                         <elementname>AccelY</elementname>
  35                         <elementname>AccelZ</elementname>
  36                         <elementname>GyroDriftX</elementname>
  37                         <elementname>GyroDriftY</elementname>
  38                         <elementname>GyroDriftZ</elementname>
  39                 </elementnames>
  40         </field>
  41         <field name="R" units="1^2" type="float" defaultvalue="
  42                 0.1, 0.1, 1000000,
  43                 0.01, 0.01, 0.01,
  44                 10, 10, 10,
  45                 0.01">
  46                 <elementnames>
  47                         <elementname>GPSPosNorth</elementname>
  48                         <elementname>GPSPosEast</elementname>
  49                         <elementname>GPSPosDown</elementname>
  50                         <elementname>GPSVelNorth</elementname>
  51                         <elementname>GPSVelEast</elementname>
  52                         <elementname>GPSVelDown</elementname>
  53                         <elementname>MagX</elementname>
  54                         <elementname>MagY</elementname>
  55                         <elementname>MagZ</elementname>
  56                         <elementname>BaroZ</elementname>
  57                 </elementnames>
  58         </field>
  59         <field name="FakeR" type="float" units="1^2" defaultvalue="
  60                 10,
  61                 1,
  62                 1000">
  63                 <elementnames>
  64                         <elementname>FakeGPSPosIndoor</elementname>
  65                         <elementname>FakeGPSVelIndoor</elementname>
  66                         <elementname>FakeGPSVelAirspeed</elementname>
  67                 </elementnames>
  68         </field>
  69         <field name="MapMagnetometerToHorizontalPlane" type="enum" units="bool" elements="1"
  70                 options="False,True" defaultvalue="True"
  71                 description="Set to True to suppress effect of magnetometers on Roll+Pitch State estimate" />
  72         <access gcs="readwrite" flight="readwrite"/>
  73         <telemetrygcs acked="true" updatemode="onchange" period="0"/>
  74         <telemetryflight acked="true" updatemode="onchange" period="0"/>
  75         <logging updatemode="manual" period="0"/>
  76     </object>
  77 </xml>