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AP_NavEKF: updated timeout for GPS retry and reduced onGround gyro bias noise multiplier

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Paul Riseborough 2014-01-04 11:47:26 +11:00 committed by Andrew Tridgell
parent 7e026d41df
commit 8b1d056e07
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -30,7 +30,7 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) :
fusionModeGPS(0), // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs no velocity
covTimeStepMax(0.07f), // maximum time (sec) between covariance prediction updates
covDelAngMax(0.05f), // maximum delta angle between covariance prediction updates
yawVarScale(10.0f), // scale factor applied to yaw gyro errors when on ground
yawVarScale(2.0f), // scale factor applied to yaw gyro errors when on ground
TASmsecMax(333), // maximum allowed interal between airspeed measurement updates
MAGmsecMax(333), // maximum allowed interval between magnetometer measurement updates
HGTmsecMax(1000), // maximum interval between height measurement updates
@ -999,7 +999,7 @@ void NavEKF::FuseVelPosNED()
{
perf_begin(_perf_FuseVelPosNED);
// declare variables used by fault isolation logic
uint32_t gpsRetryTime = 30000; // time in msec before GPS fusion will be retried following innovation consistency failure
uint32_t gpsRetryTime = 10000; // time in msec before GPS fusion will be retried following innovation consistency failure
uint32_t gpsRetryTimeNoTAS = 5000; // retry time if no TAS measurement available
uint32_t hgtRetryTime = 5000; // height measurement retry time
uint32_t horizRetryTime = 0;