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Sub: use ahrs set-alt-measurement-noise instead of direct calls to EKF

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This commit is contained in:
Randy Mackay 2020-04-22 08:58:10 +09:00
parent 8caf7d5811
commit 36b551b75b
1 changed files with 2 additions and 12 deletions
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14
ArduSub/system.cpp
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@ -132,19 +132,9 @@ void Sub::init_ardupilot()
// We only have onboard baro
// No external underwater depth sensor detected
barometer.set_primary_baro(0);
#if HAL_NAVEKF2_AVAILABLE
ahrs.EKF2.set_baro_alt_noise(10.0f); // Readings won't correspond with rest of INS
#endif
#if HAL_NAVEKF3_AVAILABLE
ahrs.EKF3.set_baro_alt_noise(10.0f);
#endif
ahrs.set_alt_measurement_noise(10.0f); // Readings won't correspond with rest of INS
} else {
#if HAL_NAVEKF2_AVAILABLE
ahrs.EKF2.set_baro_alt_noise(0.1f);
#endif
#if HAL_NAVEKF3_AVAILABLE
ahrs.EKF3.set_baro_alt_noise(0.1f);
#endif
ahrs.set_alt_measurement_noise(0.1f);
}
leak_detector.init();