[paparazzi-commits] [6153] more reasonable gps lag in nps sim

[Felix Ruess]

Revision: 6153
          http://svn.sv.gnu.org/viewvc/?view=rev&root=paparazzi&revision=6153
Author:   flixr
Date:     2010-10-13 19:52:55 +0000 (Wed, 13 Oct 2010)
Log Message:
-----------
more reasonable gps lag in nps sim

Modified Paths:
--------------
    paparazzi3/trunk/conf/airframes/booz2_flixr.xml
    paparazzi3/trunk/conf/simulator/nps/nps_sensors_params_booz2_a1.h

Modified: paparazzi3/trunk/conf/airframes/booz2_flixr.xml
===================================================================
--- paparazzi3/trunk/conf/airframes/booz2_flixr.xml     2010-10-13 19:52:47 UTC 
(rev 6152)
+++ paparazzi3/trunk/conf/airframes/booz2_flixr.xml     2010-10-13 19:52:55 UTC 
(rev 6153)
@@ -241,7 +241,9 @@
     <subsystem name="imu"           type="b2_v1.0"/>
     <subsystem name="gps"           type="ublox"/>
     <subsystem name="ahrs"          type="cmpl"/>
-    <subsystem name="ins"           type="hff"/>
+    <subsystem name="ins"           type="hff">
+      <define name="GPS_LAG=0.2"/>
+    </subsystem>
   </firmware>
 
   <firmware name="booz_test_progs">

Modified: paparazzi3/trunk/conf/simulator/nps/nps_sensors_params_booz2_a1.h
===================================================================
--- paparazzi3/trunk/conf/simulator/nps/nps_sensors_params_booz2_a1.h   
2010-10-13 19:52:47 UTC (rev 6152)
+++ paparazzi3/trunk/conf/simulator/nps/nps_sensors_params_booz2_a1.h   
2010-10-13 19:52:55 UTC (rev 6153)
@@ -155,8 +155,8 @@
 
 #else
 
-#define NPS_GPS_SPEED_NOISE_STD_DEV            1
-#define NPS_GPS_SPEED_LATENCY                  0.8
+#define NPS_GPS_SPEED_NOISE_STD_DEV            0.5
+#define NPS_GPS_SPEED_LATENCY                  0.2
 #define NPS_GPS_POS_NOISE_STD_DEV              2
 #define NPS_GPS_POS_BIAS_INITIAL_X             0e-1
 #define NPS_GPS_POS_BIAS_INITIAL_Y            -0e-1
@@ -164,7 +164,7 @@
 #define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_X 1e-3
 #define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Y 1e-3
 #define NPS_GPS_POS_BIAS_RANDOM_WALK_STD_DEV_Z 1e-3
-#define NPS_GPS_POS_LATENCY                    0.8
+#define NPS_GPS_POS_LATENCY                    0.2
 
 #endif /* GPS_PERFECT */