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AP_NavEKF3: Increase default value of EK3_ABIAS_P_NSE 

This is required because some hardware setups with RTK GPS have experienced a collapse of the delta velocity state variances.
This commit is contained in:
Paul Riseborough 2023-05-16 19:46:29 +10:00 committed by Andrew Tridgell
parent df737449e0
commit 24a7a2ab46
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -25,7 +25,7 @@
#define GYRO_P_NSE_DEFAULT 1.5E-02f #define GYRO_P_NSE_DEFAULT 1.5E-02f
#define ACC_P_NSE_DEFAULT 3.5E-01f #define ACC_P_NSE_DEFAULT 3.5E-01f
#define GBIAS_P_NSE_DEFAULT 1.0E-03f #define GBIAS_P_NSE_DEFAULT 1.0E-03f
#define ABIAS_P_NSE_DEFAULT 3.0E-03f #define ABIAS_P_NSE_DEFAULT 6.0E-03f
#define MAGB_P_NSE_DEFAULT 1.0E-04f #define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f #define MAGE_P_NSE_DEFAULT 1.0E-03f
#define VEL_I_GATE_DEFAULT 500 #define VEL_I_GATE_DEFAULT 500
@ -51,7 +51,7 @@
#define GYRO_P_NSE_DEFAULT 1.5E-02f #define GYRO_P_NSE_DEFAULT 1.5E-02f
#define ACC_P_NSE_DEFAULT 3.5E-01f #define ACC_P_NSE_DEFAULT 3.5E-01f
#define GBIAS_P_NSE_DEFAULT 1.0E-03f #define GBIAS_P_NSE_DEFAULT 1.0E-03f
#define ABIAS_P_NSE_DEFAULT 3.0E-03f #define ABIAS_P_NSE_DEFAULT 6.0E-03f
#define MAGB_P_NSE_DEFAULT 1.0E-04f #define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f #define MAGE_P_NSE_DEFAULT 1.0E-03f
#define VEL_I_GATE_DEFAULT 500 #define VEL_I_GATE_DEFAULT 500
@ -77,7 +77,7 @@
#define GYRO_P_NSE_DEFAULT 1.5E-02f #define GYRO_P_NSE_DEFAULT 1.5E-02f
#define ACC_P_NSE_DEFAULT 3.5E-01f #define ACC_P_NSE_DEFAULT 3.5E-01f
#define GBIAS_P_NSE_DEFAULT 1.0E-03f #define GBIAS_P_NSE_DEFAULT 1.0E-03f
#define ABIAS_P_NSE_DEFAULT 3.0E-03f #define ABIAS_P_NSE_DEFAULT 6.0E-03f
#define MAGB_P_NSE_DEFAULT 1.0E-04f #define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f #define MAGE_P_NSE_DEFAULT 1.0E-03f
#define VEL_I_GATE_DEFAULT 500 #define VEL_I_GATE_DEFAULT 500
@ -103,7 +103,7 @@
#define GYRO_P_NSE_DEFAULT 1.5E-02f #define GYRO_P_NSE_DEFAULT 1.5E-02f
#define ACC_P_NSE_DEFAULT 3.5E-01f #define ACC_P_NSE_DEFAULT 3.5E-01f
#define GBIAS_P_NSE_DEFAULT 1.0E-03f #define GBIAS_P_NSE_DEFAULT 1.0E-03f
#define ABIAS_P_NSE_DEFAULT 3.0E-03f #define ABIAS_P_NSE_DEFAULT 6.0E-03f
#define MAGB_P_NSE_DEFAULT 1.0E-04f #define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f #define MAGE_P_NSE_DEFAULT 1.0E-03f
#define VEL_I_GATE_DEFAULT 500 #define VEL_I_GATE_DEFAULT 500