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AP_NavEKF : fixed bug in height limit range

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Paul Riseborough 2014-02-23 18:15:31 +11:00 committed by priseborough
parent 36d619ec3a
commit 01c84c3f47
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -2413,7 +2413,7 @@ void NavEKF::ConstrainStates()
//TODO apply circular limit //TODO apply circular limit
for (uint8_t i=7; i<=8; i++) states[i] = constrain_float(states[i],-1.0e6f,1.0e6f); for (uint8_t i=7; i<=8; i++) states[i] = constrain_float(states[i],-1.0e6f,1.0e6f);
// height limit covers home alt on everest through to home alt at SL and ballon drop // height limit covers home alt on everest through to home alt at SL and ballon drop
states[9] = constrain_float(states[9],-1.0e4f,4.0e4f); states[9] = constrain_float(states[9],-4.0e4f,1.0e4f);
// gyro bias limit ~6 deg/sec (this needs to be set based on manufacturers specs) // gyro bias limit ~6 deg/sec (this needs to be set based on manufacturers specs)
for (uint8_t i=10; i<=12; i++) states[i] = constrain_float(states[i],-0.1f*dtIMU,0.1f*dtIMU); for (uint8_t i=10; i<=12; i++) states[i] = constrain_float(states[i],-0.1f*dtIMU,0.1f*dtIMU);
// Z accel bias limit 0.5 m/s^2 (this neeeds to be set based on manufacturers specs) // Z accel bias limit 0.5 m/s^2 (this neeeds to be set based on manufacturers specs)