From 2ba8a0f3323bd91826873d58d4a6f610f6ae49e6 Mon Sep 17 00:00:00 2001 From: Lorenz Meier Date: Tue, 13 Oct 2015 10:07:43 +0200 Subject: [PATCH] UAS: Improve HIL inputs --- src/uas/UAS.cc | 38 +++++++++++++++++++------------------- 1 file changed, 19 insertions(+), 19 deletions(-) diff --git a/src/uas/UAS.cc b/src/uas/UAS.cc index d81d4e6925..4003730071 100644 --- a/src/uas/UAS.cc +++ b/src/uas/UAS.cc @@ -1960,15 +1960,15 @@ void UAS::enableHilFlightGear(bool enable, QString options, bool sensorHil, QObj } float noise_scaler = 0.05f; - xacc_var = noise_scaler * 1.2914f; - yacc_var = noise_scaler * 0.7048f; - zacc_var = noise_scaler * 1.9577f; - rollspeed_var = noise_scaler * 0.8126f; - pitchspeed_var = noise_scaler * 0.6145f; - yawspeed_var = noise_scaler * 0.5852f; - xmag_var = noise_scaler * 0.4786f; - ymag_var = noise_scaler * 0.4566f; - zmag_var = noise_scaler * 0.3333f; + xacc_var = noise_scaler * 0.2914f; + yacc_var = noise_scaler * 0.2914f; + zacc_var = noise_scaler * 0.9577f; + rollspeed_var = noise_scaler * 0.1f * 0.8126f; + pitchspeed_var = noise_scaler * 0.1f * 0.6145f; + yawspeed_var = noise_scaler * 0.1f * 0.5852f; + xmag_var = noise_scaler * 0.0786f; + ymag_var = noise_scaler * 0.0566f; + zmag_var = noise_scaler * 0.0333f; abs_pressure_var = noise_scaler * 1.1604f; diff_pressure_var = noise_scaler * 0.6604f; pressure_alt_var = noise_scaler * 1.1604f; @@ -2034,16 +2034,16 @@ void UAS::enableHilXPlane(bool enable) } simulation = new QGCXPlaneLink(this); - float noise_scaler = 0.05f; - xacc_var = noise_scaler * 1.2914f; - yacc_var = noise_scaler * 0.7048f; - zacc_var = noise_scaler * 1.9577f; - rollspeed_var = noise_scaler * 0.8126f; - pitchspeed_var = noise_scaler * 0.6145f; - yawspeed_var = noise_scaler * 0.5852f; - xmag_var = noise_scaler * 0.4786f; - ymag_var = noise_scaler * 0.4566f; - zmag_var = noise_scaler * 0.3333f; + float noise_scaler = 0.02f; + xacc_var = noise_scaler * 0.2914f; + yacc_var = noise_scaler * 0.2914f; + zacc_var = noise_scaler * 0.9577f; + rollspeed_var = noise_scaler * 0.15f * 0.8126f; + pitchspeed_var = noise_scaler * 0.15f * 0.6145f; + yawspeed_var = noise_scaler * 0.15f * 0.5852f; + xmag_var = noise_scaler * 0.0786f; + ymag_var = noise_scaler * 0.0566f; + zmag_var = noise_scaler * 0.0333f; abs_pressure_var = noise_scaler * 1.1604f; diff_pressure_var = noise_scaler * 0.6604f; pressure_alt_var = noise_scaler * 1.1604f; -- GitLab