From 5a3e0e7f170d75d69245ce14b395052ad2da7cd1 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Tue, 13 Jul 2021 21:48:50 +1000 Subject: [PATCH] AP_NavEKF3: Make gyro bias learning less noisy --- libraries/AP_NavEKF3/AP_NavEKF3.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AP_NavEKF3/AP_NavEKF3.cpp b/libraries/AP_NavEKF3/AP_NavEKF3.cpp index 04090dd760..e771c4e666 100644 --- a/libraries/AP_NavEKF3/AP_NavEKF3.cpp +++ b/libraries/AP_NavEKF3/AP_NavEKF3.cpp @@ -24,7 +24,7 @@ #define MAG_M_NSE_DEFAULT 0.05f #define GYRO_P_NSE_DEFAULT 1.5E-02f #define ACC_P_NSE_DEFAULT 3.5E-01f -#define GBIAS_P_NSE_DEFAULT 1.0E-03f +#define GBIAS_P_NSE_DEFAULT 1.0E-04f #define ABIAS_P_NSE_DEFAULT 3.0E-03f #define MAGB_P_NSE_DEFAULT 1.0E-04f #define MAGE_P_NSE_DEFAULT 1.0E-03f @@ -50,7 +50,7 @@ #define MAG_M_NSE_DEFAULT 0.05f #define GYRO_P_NSE_DEFAULT 1.5E-02f #define ACC_P_NSE_DEFAULT 3.5E-01f -#define GBIAS_P_NSE_DEFAULT 1.0E-03f +#define GBIAS_P_NSE_DEFAULT 1.0E-04f #define ABIAS_P_NSE_DEFAULT 3.0E-03f #define MAGB_P_NSE_DEFAULT 1.0E-04f #define MAGE_P_NSE_DEFAULT 1.0E-03f @@ -76,7 +76,7 @@ #define MAG_M_NSE_DEFAULT 0.05f #define GYRO_P_NSE_DEFAULT 1.5E-02f #define ACC_P_NSE_DEFAULT 3.5E-01f -#define GBIAS_P_NSE_DEFAULT 1.0E-03f +#define GBIAS_P_NSE_DEFAULT 1.0E-04f #define ABIAS_P_NSE_DEFAULT 3.0E-03f #define MAGB_P_NSE_DEFAULT 1.0E-04f #define MAGE_P_NSE_DEFAULT 1.0E-03f @@ -102,7 +102,7 @@ #define MAG_M_NSE_DEFAULT 0.05f #define GYRO_P_NSE_DEFAULT 1.5E-02f #define ACC_P_NSE_DEFAULT 3.5E-01f -#define GBIAS_P_NSE_DEFAULT 1.0E-03f +#define GBIAS_P_NSE_DEFAULT 1.0E-04f #define ABIAS_P_NSE_DEFAULT 3.0E-03f #define MAGB_P_NSE_DEFAULT 1.0E-04f #define MAGE_P_NSE_DEFAULT 1.0E-03f