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fix: corrected continuous discrete update #60

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fix: corrected continuous discrete update #60

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36 changes: 18 additions & 18 deletions roscopter/src/ekf/estimator_continuous_discrete.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -800,31 +800,31 @@ void EstimatorContinuousDiscrete::declare_parameters()
{

// Sensor uncertainties
params_.declare_double("sigma_n_gps", .5);
params_.declare_double("sigma_e_gps", .5);
params_.declare_double("sigma_h_gps", 1.0);
params_.declare_double("sigma_vn_gps", .07);
params_.declare_double("sigma_ve_gps", .07);
params_.declare_double("sigma_vd_gps", .1);
params_.declare_double("sigma_static_press", 0.5);
params_.declare_double("sigma_n_gps", .75);
params_.declare_double("sigma_e_gps", .75);
params_.declare_double("sigma_h_gps", 1.5);
params_.declare_double("sigma_vn_gps", .02);
params_.declare_double("sigma_ve_gps", .02);
params_.declare_double("sigma_vd_gps", .01);
params_.declare_double("sigma_static_press", 2.0);
params_.declare_double("sigma_mag", 0.004);
params_.declare_double("sigma_tilt_mag", radians(0.02));
params_.declare_double("sigma_accel", .025 * 9.81);
params_.declare_double("sigma_tilt_mag", radians(1.0)); // TODO: Check this!!!!
params_.declare_double("sigma_accel", .5);

// Low pass filter parameters
params_.declare_double("gyro_cutoff_freq", 20.0);
params_.declare_double("baro_cutoff_freq", 1.25);

// Proccess noises
params_.declare_double("roll_process_noise", 1000*powf(0.0001,2));
params_.declare_double("pitch_process_noise", 1000*powf(0.0001,2));
params_.declare_double("yaw_process_noise", 1000*powf(0.0001,2));
params_.declare_double("gyro_process_noise", 0.13);
params_.declare_double("accel_process_noise", 0.24525);
params_.declare_double("pos_process_noise", 1000*powf(0.00003,2));
params_.declare_double("alt_process_noise", 1000*0.000001);
params_.declare_double("vel_horizontal_process_noise", 1000*powf(0.0001,2));
params_.declare_double("vel_vertical_process_noise", 1000*powf(0.0001,2));
params_.declare_double("roll_process_noise", powf(0.0001,2));
params_.declare_double("pitch_process_noise", powf(0.0001,2));
params_.declare_double("yaw_process_noise", powf(0.001,2));
params_.declare_double("gyro_process_noise", 0.16);
params_.declare_double("accel_process_noise", 0.6);
params_.declare_double("pos_process_noise", powf(0.00003,2));
params_.declare_double("alt_process_noise", 0.000001);
params_.declare_double("vel_horizontal_process_noise", powf(0.0001,2));
params_.declare_double("vel_vertical_process_noise", powf(0.001,2));
params_.declare_double("bias_process_noise", 0.0000001*0.0000001);

// Initial covariances
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6 changes: 3 additions & 3 deletions roscopter/src/ekf/estimator_ekf.cpp
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Expand Up @@ -10,7 +10,7 @@ namespace roscopter

EstimatorEKF::EstimatorEKF() : EstimatorROS()
{
params_.declare_int("num_propagation_steps", 1);
params_.declare_int("num_propagation_steps", 10);
params_.set_parameters();
}

Expand Down Expand Up @@ -72,7 +72,7 @@ std::tuple<Eigen::MatrixXf, Eigen::VectorXf> EstimatorEKF::propagate_model(Eigen
{

int N = params_.get_int("num_propagation_steps");

float Ts_imu = Ts; // TODO: make this correct.

@JMoore5353 JMoore5353 Jun 12, 2026

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Not sure what this TODO is referring to.

@iandareid iandareid Jul 2, 2026

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Ah, I need to make sure this actually queries the IMU update rate, if it is independent of the update rate of the estimator.

for (int _ = 0; _ < N; _++)
{

Expand All @@ -89,7 +89,7 @@ std::tuple<Eigen::MatrixXf, Eigen::VectorXf> EstimatorEKF::propagate_model(Eigen
Eigen::MatrixXf G = input_jacobian(x, inputs);

// Propagate the covariance.
P = A_d * P * A_d.transpose() + (Q + G * Q_g * G.transpose()) * pow(Ts / N, 2);
P = A_d * P * A_d.transpose() + Q * Ts / N + G * Q_g * Ts_imu * G.transpose() * Ts / N;

}

Expand Down