update Kalman Filter

2026-03-19 09:40:32 +07:00
parent ddb7df7c50
commit f0d987da39
6 changed files with 90 additions and 34 deletions
--- a/config/pnkx_local_planner_params.yaml
+++ b/config/pnkx_local_planner_params.yaml
@@ -79,6 +79,14 @@ MKTAlgorithmDiffPredictiveTrajectory:
  index_samples: 60
  follow_step_path: true

+  # Kalman filter tuning (filters v and w commands)
+  kf_q_v: 0.25
+  kf_q_w: 0.8
+  kf_r_v: 0.05
+  kf_r_w: 0.08
+  kf_p0: 0.5
+  kf_filter_angular: false
+
  # Lookahead
  use_velocity_scaled_lookahead_dist: true    # Whether to use the velocity scaled lookahead distances or constant lookahead_distance. (default: false)
  # only when false: