From 301a04b74ab6b4bec0d19842fe62e871a4c85509 Mon Sep 17 00:00:00 2001 From: Randy Mackay Date: Mon, 6 Jan 2014 16:40:31 +0900 Subject: [PATCH] AP_NavEKF: update params for copter --- libraries/AP_NavEKF/AP_NavEKF.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp index 87e568bdf0..462b27db60 100644 --- a/libraries/AP_NavEKF/AP_NavEKF.cpp +++ b/libraries/AP_NavEKF/AP_NavEKF.cpp @@ -50,9 +50,9 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) : #endif { // Tuning parameters - _gpsHorizVelNoise = 0.3f; // GPS horizontal velocity noise : m/s + _gpsHorizVelNoise = 0.7f; // GPS horizontal velocity noise : m/s _gpsVertVelNoise = 0.3f; // GPS vertical velocity noise : m/s - _gpsHorizPosNoise = 2.0f; // GPS horizontal position noise m + _gpsHorizPosNoise = 1.5f; // GPS horizontal position noise m _gpsVertPosNoise = 2.0f; // GPS or Baro vertical position noise : m _gpsVelVarAccScale = 0.2f; // scale factor applied to velocity variance due to Vdot _gpsPosVarAccScale = 0.2f; // scale factor applied to position variance due to Vdot @@ -62,7 +62,7 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) : _windStateNoise = 0.1f; // RMS rate of change of wind : (m/s^2) _wndVarHgtRateScale = 0.5f; // scale factor applied to wind process noise from height rate _gyrNoise = 1.4544411e-2f; // gyro process noise : rad/s - _accNoise = 0.5f; // accelerometer process noise : m/s^2 + _accNoise = 0.02f; // accelerometer process noise : m/s^2 _dAngBiasNoise = 5.0e-7f; // gyro bias state noise : rad/s^2 _magEarthNoise = 3.0e-4f; // earth magnetic field process noise : gauss/sec _magBodyNoise = 3.0e-4f; // body magnetic field process noise : gauss/sec