From 1cf626692c56819f3f753d94689123ec087d5189 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Sat, 24 Oct 2015 21:04:20 +1100 Subject: [PATCH] AP_NavEKF: Reduce impact of altimeter flow disturbance error on Copter alt hold This increase in assumed altimeter noise and reduction in accel noise has been flight tested by L.Hall with noticeable reduction in the immediate response to Baro errors during moving flight. This increases the time constant of response to baro errors such that the pilot can more easily compensate. --- libraries/AP_NavEKF2/AP_NavEKF2.cpp | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp index 7bed9f7c4b..b7af52903a 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp @@ -18,7 +18,7 @@ #define VELNE_NOISE_DEFAULT 0.5f #define VELD_NOISE_DEFAULT 0.7f #define POSNE_NOISE_DEFAULT 1.0f -#define ALT_NOISE_DEFAULT 2.0f +#define ALT_NOISE_DEFAULT 5.0f #define MAG_NOISE_DEFAULT 0.05f #define GYRO_PNOISE_DEFAULT 0.005f #define ACC_PNOISE_DEFAULT 0.25f