Q_gyro and Q_angle
Paul Mace
Posts: 2
JWood
The obex Kalman.spin download has the covariants set as follows:
But several months back in this forum in a dialog with simonl you posted/copied:
Which is correct.
The proportionality of Q_angle and Q_gyro in the kalman.spin (0.3 vs .003) leaves me puzzled about what tweaking them would entail. Do higher weights indicate positive bias? Is it logarithmic or linear bias?
I ask because when flying 5DOF (in a real airplane!) forward acceleration is read as pitch up and vertical acceleration (coordinated turn) causes roll to be damped to near-zero. Take those two factors out and all works well...but in real flight (scale or otherwise) acceleration is what the k-filter is all about. So before entering the trial-and-error mode, I thought I'd ask.
Regards,
Paul Mace
The obex Kalman.spin download has the covariants set as follows:
R_angle = 0.3 Q_angle = 0.3 Q_gyro = 0.001
But several months back in this forum in a dialog with simonl you posted/copied:
R_angle = 0.3 Q_angle = 0.001 Q_gyro = 0.003 They are variables to tweak the kalman filter.
Which is correct.
The proportionality of Q_angle and Q_gyro in the kalman.spin (0.3 vs .003) leaves me puzzled about what tweaking them would entail. Do higher weights indicate positive bias? Is it logarithmic or linear bias?
I ask because when flying 5DOF (in a real airplane!) forward acceleration is read as pitch up and vertical acceleration (coordinated turn) causes roll to be damped to near-zero. Take those two factors out and all works well...but in real flight (scale or otherwise) acceleration is what the k-filter is all about. So before entering the trial-and-error mode, I thought I'd ask.
Regards,
Paul Mace