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AP_NavEKF3: Update EK3_GLITCH_RADIUS metadata

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Paul Riseborough 2023-06-25 18:07:04 +10:00 committed by Randy Mackay
parent 31d510042f
commit 04e15e9a4c
1 changed files with 1 additions and 1 deletions
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libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -190,7 +190,7 @@ const AP_Param::GroupInfo NavEKF3::var_info[] = {
// @Param: GLITCH_RAD
// @DisplayName: GPS glitch radius gate size (m)
// @Description: This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position. If EK3_GLITCH_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3_VEL_I_GATE and EK3_POS_I_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches.
// @Description: This controls the maximum radial uncertainty in position between the value predicted by the filter and the value measured by the GPS before the filter position and velocity states are reset to the GPS. Making this value larger allows the filter to ignore larger GPS glitches but also means that non-GPS errors such as IMU and compass can create a larger error in position before the filter is forced back to the GPS position. If EK3_GLITCH_RAD set to 0 the GPS innovations will be clipped instead of rejected if they exceed the gate size set by EK3_VEL_I_GATE and EK3_POS_I_GATE which can be useful if poor quality sensor data is causing GPS rejection and loss of navigation but does make the EKF more susceptible to GPS glitches. If setting EK3_GLITCH_RAD to 0 it is recommended to reduce EK3_VEL_I_GATE and EK3_POS_I_GATE to 300.
// @Range: 10 100
// @Increment: 5
// @User: Advanced