X-Git-Url: https://defiant.homedns.org/gitweb/?p=ros_wild_thumper.git;a=blobdiff_plain;f=scripts%2Fdwm1000.py;fp=scripts%2Fdwm1000.py;h=b237516cca74da2d13af71d9f7f03ddaa073887b;hp=535d81e94cb316e09c1c1fcd42546169fb3e048f;hb=4567660199e3bbee6be162cc169df125b60e4fd8;hpb=1713a06fdfc45670fb8c0c6efb8c158fad083968

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))