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AP_NavEKF3: Increase delta velocity bias state process noise 

Required due to state variance collapse on ground with some systems using RTK GPS.
This commit is contained in:
Paul Riseborough 2023-05-22 21:44:55 +10:00 committed by Andrew Tridgell
parent 8cd7a035e2
commit 7f0fd004e8
2 changed files with 5 additions and 5 deletions
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8
libraries/AP_NavEKF3/AP_NavEKF3.cpp
View File

@ -25,7 +25,7 @@
#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 ABIAS_P_NSE_DEFAULT 6.0E-03f
#define ABIAS_P_NSE_DEFAULT 2.0E-02f
#define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f
#define VEL_I_GATE_DEFAULT 500
@ -51,7 +51,7 @@
#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 ABIAS_P_NSE_DEFAULT 6.0E-03f
#define ABIAS_P_NSE_DEFAULT 2.0E-02f
#define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f
#define VEL_I_GATE_DEFAULT 500
@ -77,7 +77,7 @@
#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 ABIAS_P_NSE_DEFAULT 6.0E-03f
#define ABIAS_P_NSE_DEFAULT 2.0E-02f
#define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f
#define VEL_I_GATE_DEFAULT 500
@ -103,7 +103,7 @@
#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 ABIAS_P_NSE_DEFAULT 6.0E-03f
#define ABIAS_P_NSE_DEFAULT 2.0E-02f
#define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f
#define VEL_I_GATE_DEFAULT 500

2
libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
View File

@ -1912,7 +1912,7 @@ void NavEKF3_core::ConstrainVariances()
zeroRows(P,10,12);
}
const ftype minSafeStateVar = 1E-9;
const ftype minSafeStateVar = 5E-9;
if (!inhibitDelVelBiasStates) {
// Find the maximum delta velocity bias state variance and request a covariance reset if any variance is below the safe minimum