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AP_NavEKF: Misc tuning adjustments for Plane testing

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Paul Riseborough 2014-01-04 19:34:50 +11:00 committed by Andrew Tridgell
parent c87a5aaf34
commit 8f999fe787
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -50,10 +50,10 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) :
#endif
{
// Tuning parameters
_gpsHorizVelVar = 0.5f; // GPS horizontal velocity variance (m/s)^2
_gpsVertVelVar = 0.5f; // GPS vertical velocity variance (m/s)^2
_gpsHorizPosVar = 2.0f; // GPS horizontal position variance m^2
_gpsVertPosVar = 0.04f; // GPS or Baro vertical position variance m^2
_gpsHorizVelVar = 0.1f; // GPS horizontal velocity variance (m/s)^2
_gpsVertVelVar = 0.1f; // GPS vertical velocity variance (m/s)^2
_gpsHorizPosVar = 4.0f; // GPS horizontal position variance m^2
_gpsVertPosVar = 1.0f; // GPS or Baro vertical position variance m^2
_gpsVelVarAccScale = 0.2f; // scale factor applied to velocity variance due to Vdot
_gpsPosVarAccScale = 0.2f; // scale factor applied to position variance due to Vdot
_magVar = 0.0025f; // magnetometer measurement variance Gauss^2