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Copter: increase EKF_CHECK_THRESH default to 0.8

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Also remove unused #define related to inertial nav check (now removed)
This commit is contained in:
Randy Mackay 2014-09-09 14:59:27 +09:00
parent faf124771a
commit 62a4e66481
2 changed files with 1 additions and 5 deletions
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2
ArduCopter/config.h
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@ -317,7 +317,7 @@
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////
// EKF Checker // EKF Checker
#ifndef EKFCHECK_THRESHOLD_DEFAULT #ifndef EKFCHECK_THRESHOLD_DEFAULT
# define EKFCHECK_THRESHOLD_DEFAULT 0.6f // EKF checker's default compass and velocity variance above which the EKF's horizontal position will be considered bad # define EKFCHECK_THRESHOLD_DEFAULT 0.8f // EKF checker's default compass and velocity variance above which the EKF's horizontal position will be considered bad
#endif #endif
////////////////////////////////////////////////////////////////////////////// //////////////////////////////////////////////////////////////////////////////

4
ArduCopter/ekf_check.pde
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@ -11,10 +11,6 @@
# define EKF_CHECK_ITERATIONS_MAX 10 // 1 second (ie. 10 iterations at 10hz) of bad variances signals a failure # define EKF_CHECK_ITERATIONS_MAX 10 // 1 second (ie. 10 iterations at 10hz) of bad variances signals a failure
#endif #endif
#ifndef EKF_CHECK_COMPASS_INAV_CONVERSION
# define EKF_CHECK_COMPASS_INAV_CONVERSION 0.0075f // converts the inertial nav's acceleration corrections to a form that is comparable to the ekf variance
#endif
#ifndef EKF_CHECK_WARNING_TIME #ifndef EKF_CHECK_WARNING_TIME
# define EKF_CHECK_WARNING_TIME (30*1000) // warning text messages are sent to ground no more than every 30 seconds # define EKF_CHECK_WARNING_TIME (30*1000) // warning text messages are sent to ground no more than every 30 seconds
#endif #endif