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AP_NavEKF : Relax aliasing check limits

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This reduces the chance of noisy data inhibiting GPS glitch protection
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priseborough 2014-04-02 17:11:18 +11:00 committed by Andrew Tridgell
parent 0ae736c3a0
commit 36b3cbc365
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -1608,8 +1608,8 @@ void NavEKF::FuseVelPosNED()
// calculate innovations for height and vertical GPS vel measurements
float hgtErr = statesAtVelTime[9] - observation[5];
float velDErr = statesAtVelTime[6] - observation[2];
// check if they are the same sign and both more than 2-sigma out of bounds
if ((hgtErr*velDErr > 0.0f) && (sq(hgtErr) > 4.0f * (P[9][9] + R_OBS[5])) && (sq(velDErr) > 4.0f * (P[6][6] + R_OBS[2]))) {
// check if they are the same sign and both more than 3-sigma out of bounds
if ((hgtErr*velDErr > 0.0f) && (sq(hgtErr) > 9.0f * (P[9][9] + R_OBS[5])) && (sq(velDErr) > 9.0f * (P[6][6] + R_OBS[2]))) {
badIMUdata = true;
} else {
badIMUdata = false;