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AP_NavEKF2: Use measurement uncertainties to initialise covariance

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Paul Riseborough 2016-01-09 11:10:57 +11:00 committed by Andrew Tridgell
parent 360d9fafb6
commit 23038e7243
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_NavEKF2/AP_NavEKF2_core.cpp
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@ -359,11 +359,11 @@ void NavEKF2_core::CovarianceInit()
P[1][1] = 0.1f; P[1][1] = 0.1f;
P[2][2] = 0.1f; P[2][2] = 0.1f;
// velocities // velocities
P[3][3] = sq(0.7f); P[3][3] = sq(frontend->_gpsHorizVelNoise);
P[4][4] = P[3][3]; P[4][4] = P[3][3];
P[5][5] = sq(0.7f); P[5][5] = sq(frontend->_gpsVertVelNoise);
// positions // positions
P[6][6] = sq(15.0f); P[6][6] = sq(frontend->_gpsHorizPosNoise);
P[7][7] = P[6][6]; P[7][7] = P[6][6];
P[8][8] = sq(frontend->_baroAltNoise); P[8][8] = sq(frontend->_baroAltNoise);
// gyro delta angle biases // gyro delta angle biases