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AP_NavEKF3: Allow smaller dvel bias state variances for improved tuning

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Paul Riseborough 2021-07-15 14:51:02 +10:00 committed by Randy Mackay
parent 315d9ef9d8
commit 082f8e42f6
1 changed files with 2 additions and 2 deletions
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libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -1885,11 +1885,11 @@ void NavEKF3_core::ConstrainVariances()
zeroRows(P,10,12); zeroRows(P,10,12);
} }
const ftype minStateVarTarget = 1E-8; const ftype minStateVarTarget = 1E-11;
if (!inhibitDelVelBiasStates) { if (!inhibitDelVelBiasStates) {
// Find the maximum delta velocity bias state variance and request a covariance reset if any variance is below the safe minimum // Find the maximum delta velocity bias state variance and request a covariance reset if any variance is below the safe minimum
const ftype minSafeStateVar = 1e-9; const ftype minSafeStateVar = minStateVarTarget * 0.1f;
ftype maxStateVar = minSafeStateVar; ftype maxStateVar = minSafeStateVar;
bool resetRequired = false; bool resetRequired = false;
for (uint8_t stateIndex=13; stateIndex<=15; stateIndex++) { for (uint8_t stateIndex=13; stateIndex<=15; stateIndex++) {