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AP_NavEKF3: Make gyro bias learning less noisy

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Paul Riseborough 2021-07-13 21:48:50 +10:00 committed by Andrew Tridgell
parent a32fd0a97c
commit 77082e414b
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -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