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AC_PrecLand: trust initial velocity less

This commit is contained in:
Jonathan Challinger 2016-10-11 13:26:18 -07:00 committed by Randy Mackay
parent ec73f563ad
commit 8df4add729
1 changed files with 2 additions and 2 deletions
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4
libraries/AC_PrecLand/AC_PrecLand.cpp
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@ -160,8 +160,8 @@ void AC_PrecLand::update(float rangefinder_alt_cm, bool rangefinder_alt_valid)
if (!target_acquired()) {
// reset filter state
if (_inav.get_filter_status().flags.horiz_pos_rel) {
_ekf_x.init(targetPosRelMeasNED.x, xy_pos_var, -vehicleVelocityNED.x, sq(1.0f));
_ekf_y.init(targetPosRelMeasNED.y, xy_pos_var, -vehicleVelocityNED.y, sq(1.0f));
_ekf_x.init(targetPosRelMeasNED.x, xy_pos_var, -vehicleVelocityNED.x, sq(2.0f));
_ekf_y.init(targetPosRelMeasNED.y, xy_pos_var, -vehicleVelocityNED.y, sq(2.0f));
} else {
_ekf_x.init(targetPosRelMeasNED.x, xy_pos_var, 0.0f, sq(10.0f));
_ekf_y.init(targetPosRelMeasNED.y, xy_pos_var, 0.0f, sq(10.0f));