mirror of https://github.com/ArduPilot/ardupilot
AP_NavEKF : Adjust initial flow scale factor and limits
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@ -2648,7 +2648,7 @@ void NavEKF::RunAuxiliaryEKF()
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flowStates[i] -= K_RNG[i] * innovRng;
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}
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// constrain the states
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flowStates[0] = constrain_float(flowStates[0], 0.1f, 10.0f);
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flowStates[0] = constrain_float(flowStates[0], 0.8f, 1.25f);
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flowStates[1] = max(flowStates[1], statesAtRngTime.position[2] + 0.1f);
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// correct the covariance matrix
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@ -2771,7 +2771,7 @@ void NavEKF::RunAuxiliaryEKF()
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flowStates[i] -= K_OPT[i][obsIndex] * auxFlowObsInnov[obsIndex];
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}
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// constrain the states
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flowStates[0] = constrain_float(flowStates[0], 0.1f, 10.0f);
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flowStates[0] = constrain_float(flowStates[0], 0.8f, 1.25f);
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flowStates[1] = max(flowStates[1], statesAtFlowTime.position[2] + 0.1f);
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// correct the covariance matrix
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