From: Erik Andresen <erik@vontaene.de>
Date: Mon, 30 Jul 2018 11:14:19 +0000 (+0200)
Subject: dwm1000: Reset estimate when we loose the dwm so the sensor values is
X-Git-Url: https://defiant.homedns.org/gitweb/?a=commitdiff_plain;h=4567660199e3bbee6be162cc169df125b60e4fd8;p=ros_wild_thumper.git

dwm1000: Reset estimate when we loose the dwm so the sensor values is
trusted more then the estimate
---

diff --git a/scripts/dwm1000.py b/scripts/dwm1000.py
index 535d81e..b237516 100755
--- a/scripts/dwm1000.py
+++ b/scripts/dwm1000.py
@@ -64,9 +64,9 @@ class DW1000(threading.Thread):
 
 class Position:
 	def __init__(self):
-		R = np.matrix([[0.045, 0.5], [0.0, 0.008]])	# Varianz des Messfehlers
-		P_est = 1e-3 * np.eye(2)			# Fehlerkovarianz
-		Q = np.matrix([[0.001, 0.0], [0.0, 0.00001]])	# Systemrauschen
+		R = np.matrix([[0.5, 0.0], [0.0, 0.2]])		# Varianz des Messfehlers
+		P_est = 1e50 * np.eye(2)			# Fehlerkovarianz
+		Q = np.matrix([[0.001, 0.0], [0.0, 0.0001]])	# Systemrauschen
 		self.filter_xy = simple_kalman(np.array([[1.0, 0.0]]).T, P_est, Q, R)
 		self.speed_x = 0
 		self.speed_y = 0
@@ -106,6 +106,7 @@ class Position:
 			self.filter_xy.set_measure_cov(np.matrix([[cov_00, 0.0], [0.0, cov_11]]))
 		else:
 			pos = self.filter_xy.x_est
+			self.filter_xy.P_est = np.matrix(1e50 * np.eye(2)) # reset estimate when lost
 
 
 		x = pos.item((0, 0))