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AP_NavEKF3: allow high values of EK3_ALT_M_NSE for boards without baros

This commit is contained in:
Andy Piper 2023-08-15 15:16:08 +01:00 committed by Randy Mackay
parent 7f18fe6cf6
commit 60b5093979
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF3/AP_NavEKF3_PosVelFusion.cpp
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@ -1263,7 +1263,7 @@ void NavEKF3_core::selectHeightForFusion()
// enable fusion // enable fusion
fuseHgtData = true; fuseHgtData = true;
// set the observation noise // set the observation noise
posDownObsNoise = sq(constrain_ftype(frontend->_baroAltNoise, 0.1f, 10.0f)); posDownObsNoise = sq(constrain_ftype(frontend->_baroAltNoise, 0.1f, 100.0f));
// reduce weighting (increase observation noise) on baro if we are likely to be experiencing rotor wash ground interaction // reduce weighting (increase observation noise) on baro if we are likely to be experiencing rotor wash ground interaction
if (dal.get_takeoff_expected() || dal.get_touchdown_expected()) { if (dal.get_takeoff_expected() || dal.get_touchdown_expected()) {
posDownObsNoise *= frontend->gndEffectBaroScaler; posDownObsNoise *= frontend->gndEffectBaroScaler;