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AP_NavEKF2: relax bias convergence check 

Enables bias convergence check to pass within 30 seconds when vehicle is static.
This commit is contained in:
priseborough 2016-07-11 01:02:36 +10:00 committed by Andrew Tridgell
parent 280395afa1
commit 04e8726d8a
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF2/AP_NavEKF2_Control.cpp
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@ -331,7 +331,7 @@ void NavEKF2_core::recordYawReset()
bool NavEKF2_core::checkGyroCalStatus(void) bool NavEKF2_core::checkGyroCalStatus(void)
{ {
// check delta angle bias variances // check delta angle bias variances
const float delAngBiasVarMax = sq(radians(0.1f * dtEkfAvg)); const float delAngBiasVarMax = sq(radians(0.15f * dtEkfAvg));
delAngBiasLearned = (P[9][9] <= delAngBiasVarMax) && delAngBiasLearned = (P[9][9] <= delAngBiasVarMax) &&
(P[10][10] <= delAngBiasVarMax) && (P[10][10] <= delAngBiasVarMax) &&
(P[11][11] <= delAngBiasVarMax); (P[11][11] <= delAngBiasVarMax);