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AP_NavEKF : Reduce GPS position innovation consistency fail threshold

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This patch reduces the maximum acceptable GPS jump from approximately 16 to 8 metres
This will provide copters with more protection for close in loiter situations
This commit is contained in:
priseborough 2014-03-25 04:52:49 +11:00 committed by Andrew Tridgell
parent 8c0c9c317e
commit 45b1a2fa46
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -193,7 +193,7 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @Range: 1 - 100
// @Increment: 1
// @User: advanced
AP_GROUPINFO("POS_GATE", 18, NavEKF, _gpsPosInnovGate, 10),
AP_GROUPINFO("POS_GATE", 18, NavEKF, _gpsPosInnovGate, 5),
// @Param: HGT_GATE
// @DisplayName: Height measurement gate size