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AP_NavEKF: Increase height at which nav gain reduction starts 

Compensates for optical flow induced noise increase with height.
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priseborough 2014-11-20 21:45:57 +11:00 committed by Andrew Tridgell
parent 12ea1d6e85
commit 0156d846f1
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -3630,7 +3630,7 @@ void NavEKF::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScal
// allow 1.0 rad/sec margin for angular motion // allow 1.0 rad/sec margin for angular motion
ekfGndSpdLimit = max((_maxFlowRate - 1.0f), 0.0f) * max((flowStates[1] - state.position[2]), 0.1f); ekfGndSpdLimit = max((_maxFlowRate - 1.0f), 0.0f) * max((flowStates[1] - state.position[2]), 0.1f);
// use standard gains up to 5.0 metres height and reduce above that // use standard gains up to 5.0 metres height and reduce above that
ekfNavVelGainScaler = 3.0f / max((flowStates[1] - state.position[2]),3.0f); ekfNavVelGainScaler = 4.0f / max((flowStates[1] - state.position[2]),4.0f);
} else { } else {
ekfGndSpdLimit = 400.0f; //return 80% of max filter speed ekfGndSpdLimit = 400.0f; //return 80% of max filter speed
ekfNavVelGainScaler = 1.0f; ekfNavVelGainScaler = 1.0f;