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Lower noise for now
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@qhdwight
qhdwight committed Feb 20, 2024
1 parent 1d21ff7 commit 42b556b
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114 changes: 57 additions & 57 deletions config/sim_ekf.yaml
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Original file line number Diff line number Diff line change
Expand Up @@ -5,28 +5,28 @@ global_ekf:
# This option controls whether to use that DoP covariance matrix, or to
# replace it with the configured gps_covariane matrix below
use_gps_dop_covariance: false
gps_covariance: [[2, 0, 0],
[0, 2, 0],
[0, 0, 2]]
gps_covariance: [ [ 0.02, 0, 0 ],
[ 0, 0.02, 0 ],
[ 0, 0, 0.02 ] ]

imu_orientation_covariance: [[0.1, 0, 0],
[0, 0.1, 0],
[0, 0, 0.1]]
imu_orientation_covariance: [ [ 0.01, 0, 0 ],
[ 0, 0.01, 0 ],
[ 0, 0, 0.01 ] ]

imu_accel_covariance: [[0.1, 0, 0],
[0, 0.1, 0],
[0, 0, 0.1]]
imu_accel_covariance: [ [ 0.01, 0, 0 ],
[ 0, 0.01, 0 ],
[ 0, 0, 0.01 ] ]

imu_gyro_covariance: [[0.1, 0, 0],
[0, 0.1, 0],
[0, 0, 0.1]]
imu_gyro_covariance: [ [ 0.01, 0, 0 ],
[ 0, 0.01, 0 ],
[ 0, 0, 0.01 ] ]

imu_mag_pose_covariance: [[0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0],
[0, 0, 0, 0, 0, 0.1]]
imu_mag_pose_covariance: [ [ 0, 0, 0, 0, 0, 0 ],
[ 0, 0, 0, 0, 0, 0 ],
[ 0, 0, 0, 0, 0, 0 ],
[ 0, 0, 0, 0, 0, 0 ],
[ 0, 0, 0, 0, 0, 0 ],
[ 0, 0, 0, 0, 0, 0.1 ] ]

# Hz
frequency: 30
Expand Down Expand Up @@ -69,11 +69,11 @@ global_ekf:
# true, true, true,
# false, true, true]

pose0_config: [true, true, true,
true, true, true,
false, false, false,
false, false, false,
false, false, false]
pose0_config: [ true, true, true,
true, true, true,
false, false, false,
false, false, false,
false, false, false ]

# pose1_config: [false, false, false,
# false, false, true,
Expand All @@ -95,40 +95,40 @@ global_ekf:
use_control: true

# Which velocities are being controlled. Order is vx, vy, vz, vroll, vpitch, vyaw.
control_config: [true, false, false, false, false, true]
acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4]
deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5]
control_config: [ true, false, false, false, false, true ]
acceleration_limits: [ 1.3, 0.0, 0.0, 0.0, 0.0, 3.4 ]
deceleration_limits: [ 1.3, 0.0, 0.0, 0.0, 0.0, 4.5 ]

# x, y, z, roll, pitch, yaw, vx, vy, vz, vroll, vpitch, vyaw, ax, ay, az
process_noise_covariance: [0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.04, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.02, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.015]

initial_estimate_covariance: [0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9]
process_noise_covariance: [ 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.04, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.02, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.015 ]

initial_estimate_covariance: [ 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1e-9 ]

12 changes: 6 additions & 6 deletions src/simulator/simulator.hpp
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Original file line number Diff line number Diff line change
Expand Up @@ -227,13 +227,13 @@ namespace mrover {

// TODO: make variances configurable
std::default_random_engine mRNG;
std::normal_distribution<double> mGPSDist{0, 0.2},
mAccelDist{0, 0.05},
mGyroDist{0, 0.02},
std::normal_distribution<> mGPSDist{0, 0.02},
mAccelDist{0, 0.01},
mGyroDist{0, 0.01},
mMagDist{0, 0.1},
mRollDist{0, 0.05},
mPitchDist{0, 0.05},
mYawDist{0, 0.1};
mRollDist{0, 0.01},
mPitchDist{0, 0.01},
mYawDist{0, 0.01};

PeriodicTask mGpsTask;
PeriodicTask mImuTask;
Expand Down

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