NAV_tuning_parameters.h

Go to the documentation of this file.

/***********************************************************************/
#ifndef NAV_ALGORITHMS_NAV_TUNING_PARAMETERS_H_
#define NAV_ALGORITHMS_NAV_TUNING_PARAMETERS_H_
 
#define MINIMUM_MAG_CALIBRATION_SAMPLES 6000
#define MAG_OFFSET_CHANGE_LIMIT 0.02f
#define MAG_SCALE_CHANGE_LIMIT 0.02f
 
#define CIRCLE_LIMIT (10 * 100) 
 
// filters for CAN information (turn-coordinator, G-load ...)
#define ANGLE_F_BY_FS  ( 1.0f / 0.5f / 100.0f)          // 0.5s
#define G_LOAD_F_BY_FS ( 1.0f / 0.25f / 100.0f)         // 0.25s
 
// variometer tuning parameters, will be written into EEPROM as defaults if no config-file is given
#define DEFAULT_VARIO_TC        2.0f
#define DEFAULT_AVG_VARIO_TC    30.0f
#define DEFAULT_WIND_TC     5.0f
#define DEFAULT_WIND_AVG_TC     30.0f
#define NEGLECTABLE_WIND    0.1f
 
// AHRS tuning parameters:
// These parameters have been tuned for the flight-dynamics of gliders
// and the use of the MTI high-precision IMU
#define P_GAIN 0.03f            
#define I_GAIN 0.00006f         
#define H_GAIN 38.0f            
#define M_H_GAIN 6.0f           
#define CROSS_GAIN 0.05         
#define INDUCTION_ERROR 0.015       
#define NAV_CORRECTION_LIMIT 5.0f   
#define HIGH_TURN_RATE 8.0*M_PI/180.0f  
#define LOW_TURN_RATE  1.0*M_PI/180.0f  
#define SPEED_COMPENSATION_FUSIONER_FEEDBACK 0.998f // empirically tuned alpha
 
#define USE_ACCELERATION_CROSS_GAIN_ALONE_WHEN_CIRCLING 1   
#define DISABLE_CIRCLING_STATE      0   
#define INDUCTION_STD_DEVIATION_LIMIT   0.03    
 
#define AIRBORNE_TRIGGER_SPEED      0.5f 
 
#define MAG_SCALE           10000.0f 
#define FAST_SAMPLING_REQUENCY      100.0f
#define FAST_SAMPLING_TIME      0.01f
#define SLOW_SAMPLING_REQUENCY      10.0f
#define SLOW_SAMPLING_TIME      0.1f
 
#define GRAVITY             9.81f
 
#endif /* NAV_ALGORITHMS_NAV_TUNING_PARAMETERS_H_ */