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AP_NavEKF3: retune wind process noise for better airspeed fault detection

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Paul Riseborough 2021-07-18 17:06:29 +10:00 committed by Randy Mackay
parent dd9cc70ad4
commit 762529a987
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -65,7 +65,7 @@
#define FLOW_I_GATE_DEFAULT 300 #define FLOW_I_GATE_DEFAULT 300
#define CHECK_SCALER_DEFAULT 100 #define CHECK_SCALER_DEFAULT 100
#define FLOW_USE_DEFAULT 1 #define FLOW_USE_DEFAULT 1
#define WIND_P_NSE_DEFAULT 0.5 #define WIND_P_NSE_DEFAULT 0.25
#elif APM_BUILD_TYPE(APM_BUILD_ArduPlane) #elif APM_BUILD_TYPE(APM_BUILD_ArduPlane)
// plane defaults // plane defaults
@ -91,7 +91,7 @@
#define FLOW_I_GATE_DEFAULT 500 #define FLOW_I_GATE_DEFAULT 500
#define CHECK_SCALER_DEFAULT 150 #define CHECK_SCALER_DEFAULT 150
#define FLOW_USE_DEFAULT 2 #define FLOW_USE_DEFAULT 2
#define WIND_P_NSE_DEFAULT 0.5 #define WIND_P_NSE_DEFAULT 0.25
#else #else
// build type not specified, use copter defaults // build type not specified, use copter defaults