| Name
| Description
| Min > Max (Incr. )
| Default
| Units
|
| LTEST_ACC_UNC (FLOAT)
| Acceleration uncertainty
Comment: Variance of acceleration measurement used for landing target position prediction. Higher values results in tighter following of the measurements and more lenient outlier rejection
| 0. 01 > ?
| 10. 0
| (m/s^2)^2
|
| LTEST_MEAS_UNC (FLOAT)
| Landing target measurement uncertainty
Comment: Variance of the landing target measurement from the driver. Higher values results in less agressive following of the measurement and a smoother output as well as fewer rejected measurements.
|
| 0. 005
| tan(rad)^2
|
| LTEST_MODE (INT32)
| Landing target mode
Comment: Configure the mode of the landing target. Depending on the mode, the landing target observations are used differently to aid position estimation. Mode Moving: The landing target may be moving around while in the field of view of the vehicle. Landing target measurements are not used to aid positioning. Mode Stationary: The landing target is stationary. Measured velocity w. r. t. the landing target is used to aid velocity estimation.
Values:
| 0 > 1
|
|
|
| LTEST_POS_UNC_IN (FLOAT)
| Initial landing target position uncertainty
Comment: Initial variance of the relative landing target position in x and y direction
| 0. 001 > ?
| 0. 1
| m^2
|
| LTEST_SCALE_X (FLOAT)
| Scale factor for sensor measurements in sensor x axis
Comment: Landing target x measurements are scaled by this factor before being used
| 0. 01 > ?
| 1. 0
|
|
| LTEST_SCALE_Y (FLOAT)
| Scale factor for sensor measurements in sensor y axis
Comment: Landing target y measurements are scaled by this factor before being used
| 0. 01 > ?
| 1. 0
|
|
| LTEST_VEL_UNC_IN (FLOAT)
| Initial landing target velocity uncertainty
Comment: Initial variance of the relative landing target velocity in x and y direction
| 0. 001 > ?
| 0. 1
| (m/s)^2
|
| Name
| Description
| Min > Max (Incr. )
| Default
| Units
|
| LPE_ACC_XY (FLOAT)
| Accelerometer xy noise density
Comment: Data sheet noise density = 150ug/sqrt(Hz) = 0. 0015 m/s^2/sqrt(Hz) Larger than data sheet to account for tilt error.
| 0. 00001 > 2
| 0. 012
| m/s^2/sqrt(Hz)
|
| LPE_ACC_Z (FLOAT)
| Accelerometer z noise density
Comment: Data sheet noise density = 150ug/sqrt(Hz) = 0. 0015 m/s^2/sqrt(Hz)
| 0. 00001 > 2
| 0. 02
| m/s^2/sqrt(Hz)
|
| LPE_BAR_Z (FLOAT)
| Barometric presssure altitude z standard deviation
| 0. 01 > 100
| 3. 0
| m
|
| LPE_EPH_MAX (FLOAT)
| Max EPH allowed for GPS initialization
| 1. 0 > 5. 0
| 3. 0
| m
|
| LPE_EPV_MAX (FLOAT)
| Max EPV allowed for GPS initialization
| 1. 0 > 5. 0
| 5. 0
| m
|
| LPE_FAKE_ORIGIN (INT32)
| Enable publishing of a fake global position (e. g for AUTO missions using Optical Flow) by initializing the estimator to the LPE_LAT/LON parameters when global information is unavailable
| 0 > 1
|
|
|
| LPE_FGYRO_HP (FLOAT)
| Flow gyro high pass filter cut off frequency
| 0 > 2
| 0. 001
| Hz
|
| LPE_FLW_OFF_Z (FLOAT)
| Optical flow z offset from center
| -1 > 1
| 0. 0
| m
|
| LPE_FLW_QMIN (INT32)
| Optical flow minimum quality threshold
| 0 > 255
|
|
|
| LPE_FLW_R (FLOAT)
| Optical flow rotation (roll/pitch) noise gain
| 0. 1 > 10. 0
| 7. 0
| m/s / (rad)
|
| LPE_FLW_RR (FLOAT)
| Optical flow angular velocity noise gain
| 0. 0 > 10. 0
| 7. 0
| m/s / (rad/s)
|
| LPE_FLW_SCALE (FLOAT)
| Optical flow scale
| 0. 1 > 10. 0
| 1. 3
| m
|
| LPE_FUSION (INT32)
| Integer bitmask controlling data fusion
Comment: Set bits in the following positions to enable: 0: Set to true to fuse GPS data if available, also requires GPS for altitude init 1: Set to true to fuse optical flow data if available 2: Set to true to fuse vision position 3: Set to true to enable landing target 4: Set to true to fuse land detector 5: Set to true to publish AGL as local position down component 6: Set to true to enable flow gyro compensation 7: Set to true to enable baro fusion default (145 - GPS, baro, land detector)
Bitmask:
- 0: fuse GPS, requires GPS for alt. init
- 1: fuse optical flow
- 2: fuse vision position
- 3: fuse landing target
- 4: fuse land detector
- 5: pub agl as lpos down
- 6: flow gyro compensation
- 7: fuse baro
| 0 > 255
|
|
|
| LPE_GPS_DELAY (FLOAT)
| GPS delay compensaton
| 0 > 0. 4
| 0. 29
| sec
|
| LPE_GPS_VXY (FLOAT)
| GPS xy velocity standard deviation. EPV used if greater than this value
| 0. 01 > 2
| 0. 25
| m/s
|
| LPE_GPS_VZ (FLOAT)
| GPS z velocity standard deviation
| 0. 01 > 2
| 0. 25
| m/s
|
| LPE_GPS_XY (FLOAT)
| Minimum GPS xy standard deviation, uses reported EPH if greater
| 0. 01 > 5
| 1. 0
| m
|
| LPE_GPS_Z (FLOAT)
| Minimum GPS z standard deviation, uses reported EPV if greater
| 0. 01 > 200
| 3. 0
| m
|
| LPE_LAND_VXY (FLOAT)
| Land detector xy velocity standard deviation
| 0. 01 > 10. 0
| 0. 05
| m/s
|
| LPE_LAND_Z (FLOAT)
| Land detector z standard deviation
| 0. 001 > 10. 0
| 0. 03
| m
|
| LPE_LAT (FLOAT)
| Local origin latitude for nav w/o GPS
| -90 > 90
| 47. 397742
| deg
|
| LPE_LDR_OFF_Z (FLOAT)
| Lidar z offset from center of vehicle +down
| -1 > 1
| 0. 00
| m
|
| LPE_LDR_Z (FLOAT)
| Lidar z standard deviation
| 0. 01 > 1
| 0. 03
| m
|
| LPE_LON (FLOAT)
| Local origin longitude for nav w/o GPS
| -180 > 180
| 8. 545594
| deg
|
| LPE_LT_COV (FLOAT)
| Minimum landing target standard covariance, uses reported covariance if greater
| 0. 0 > 10
| 0. 0001
| m^2
|
| LPE_PN_B (FLOAT)
| Accel bias propagation noise density
| 0 > 1
| 1e-3
| (m/s^2)/s/sqrt(Hz)
|
| LPE_PN_P (FLOAT)
| Position propagation noise density
Comment: Increase to trust measurements more. Decrease to trust model more.
| 0 > 1
| 0. 1
| m/s/sqrt(Hz)
|
| LPE_PN_T (FLOAT)
| Terrain random walk noise density, hilly/outdoor (0. 1), flat/Indoor (0. 001)
| 0 > 1
| 0. 001
| (m/s)/(sqrt(hz))
|
| LPE_PN_V (FLOAT)
| Velocity propagation noise density
Comment: Increase to trust measurements more. Decrease to trust model more.
| 0 > 1
| 0. 1
| (m/s)/s/sqrt(Hz)
|
| LPE_SNR_OFF_Z (FLOAT)
| Sonar z offset from center of vehicle +down
| -1 > 1
| 0. 00
| m
|
| LPE_SNR_Z (FLOAT)
| Sonar z standard deviation
| 0. 01 > 1
| 0. 05
| m
|
| LPE_T_MAX_GRADE (FLOAT)
| Terrain maximum percent grade, hilly/outdoor (100 = 45 deg), flat/Indoor (0 = 0 deg) Used to calculate increased terrain random walk nosie due to movement
| 0 > 100
| 1. 0
| %
|
| LPE_VIC_P (FLOAT)
| Vicon position standard deviation
| 0. 0001 > 1
| 0. 001
| m
|
| LPE_VIS_DELAY (FLOAT)
| Vision delay compensaton
Comment: Set to zero to enable automatic compensation from measurement timestamps
| 0 > 0. 1
| 0. 1
| sec
|
| LPE_VIS_XY (FLOAT)
| Vision xy standard deviation
| 0. 01 > 1
| 0. 1
| m
|
| LPE_VIS_Z (FLOAT)
| Vision z standard deviation
| 0. 01 > 100
| 0. 5
| m
|
| LPE_VXY_PUB (FLOAT)
| Required velocity xy standard deviation to publish position
| 0. 01 > 1. 0
| 0. 3
| m/s
|
| LPE_X_LP (FLOAT)
| Cut frequency for state publication
| 5 > 1000
| 5. 0
| Hz
|
| LPE_Z_PUB (FLOAT)
| Required z standard deviation to publish altitude/ terrain
| 0. 3 > 5. 0
| 1. 0
| m
|
