mirror of https://github.com/ArduPilot/ardupilot
AP_NavEKF: make params public so they can be tuned
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@ -191,6 +191,7 @@ private:
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bool statesInitialised;
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public:
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// Tuning Parameters
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ftype _gpsHorizVelNoise; // GPS horizontal velocity noise : m/s
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ftype _gpsVertVelNoise; // GPS vertical velocity noise : m/s
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@ -208,6 +209,7 @@ private:
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ftype _dAngBiasNoise; // gyro bias state noise : rad/s^2
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ftype _magEarthNoise; // earth magnetic field process noise : gauss/sec
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ftype _magBodyNoise; // earth magnetic field process noise : gauss/sec
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private:
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Vector21 states; // state matrix - 4 x quaternions, 3 x Vel, 3 x Pos, 3 x gyro bias, 3 x accel bias, 2 x wind vel, 3 x earth mag field, 3 x body mag field
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