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AP_NavEKF: Increase rate at which GPS glitch offsets are reduced for planes

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priseborough 2014-12-19 18:23:05 +11:00 committed by Randy Mackay
parent 82a83200b1
commit 78b30e4ce5
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -4424,13 +4424,13 @@ bool NavEKF::use_compass(void) const
return _ahrs->get_compass() && _ahrs->get_compass()->use_for_yaw(); return _ahrs->get_compass() && _ahrs->get_compass()->use_for_yaw();
} }
// decay GPS horizontal position offset to close to zero at a rate of 1 m/s for copters and 3 m/s for planes // decay GPS horizontal position offset to close to zero at a rate of 1 m/s for copters and 5 m/s for planes
// limit radius to a maximum of 100m // limit radius to a maximum of 100m
void NavEKF::decayGpsOffset() void NavEKF::decayGpsOffset()
{ {
float offsetDecaySpd; float offsetDecaySpd;
if (assume_zero_sideslip()) { if (assume_zero_sideslip()) {
offsetDecaySpd = 3.0f; offsetDecaySpd = 5.0f;
} else { } else {
offsetDecaySpd = 1.0f; offsetDecaySpd = 1.0f;
} }