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Merge branch 'dev-7.5.0' into higher-acs-modes-only-str
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Marius Eggert
2023-12-04 13:19:28 +01:00
parent d0588b144a 5b5d891131
commit b0b279e313
5 changed files with 23 additions and 29 deletions
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10
mission/controller/acs/AcsParameters.h
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@ -78,9 +78,9 @@ class AcsParameters : public HasParametersIF {
{-0.007534, 1.253879, 0.006812},
{-0.037072, 0.006812, 1.313158}};
float mgm02variance[3] = {pow(3.2e-7, 2), pow(3.2e-7, 2), pow(4.1e-7, 2)};
float mgm13variance[3] = {pow(1.5e-8, 2), pow(1.5e-8, 2), pow(1.5e-8, 2)};
float mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)};
double mgm02variance[3] = {pow(3.2e-7, 2), pow(3.2e-7, 2), pow(4.1e-7, 2)};
double mgm13variance[3] = {pow(1.5e-8, 2), pow(1.5e-8, 2), pow(1.5e-8, 2)};
double mgm4variance[3] = {pow(1.7e-6, 2), pow(1.7e-6, 2), pow(1.7e-6, 2)};
float mgmVectorFilterWeight = 0.85;
float mgmDerivativeFilterWeight = 0.99;
uint8_t useMgm4 = false;
@ -790,10 +790,10 @@ class AcsParameters : public HasParametersIF {
/* var = sigma^2, sigma = RND*sqrt(freq), following values are RND^2 and not var as freq is
* assumed to be equal for the same class of sensors */
float gyr02variance[3] = {pow(4.6e-3, 2), // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
double gyr02variance[3] = {pow(4.6e-3, 2), // RND_x = 3.0e-3 deg/s/sqrt(Hz) rms
pow(4.6e-3, 2), // RND_y = 3.0e-3 deg/s/sqrt(Hz) rms
pow(6.1e-3, 2)}; // RND_z = 4.3e-3 deg/s/sqrt(Hz) rms
float gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
double gyr13variance[3] = {pow(11e-3, 2), pow(11e-3, 2), pow(11e-3, 2)};
uint8_t preferAdis = false;
float gyrFilterWeight = 0.6;
} gyrHandlingParameters;