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AP_NavEKF: Link process noise to arm status, not pos hold mode

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priseborough 2014-12-21 21:14:53 +11:00 committed by Randy Mackay
parent a535b73a6d
commit 92c3026072
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -1213,10 +1213,10 @@ void NavEKF::CovariancePrediction()
}
for (uint8_t i= 0; i<=9; i++) processNoise[i] = 1.0e-9f;
for (uint8_t i=10; i<=12; i++) processNoise[i] = dAngBiasSigma;
// scale gyro bias noise when in position hold mode to allow for faster bias estimation
// scale gyro bias noise when disarmed to allow for faster bias estimation
for (uint8_t i=10; i<=12; i++) {
processNoise[i] = dAngBiasSigma;
if (posHoldMode) {
if (!vehicleArmed) {
processNoise[i] *= _gyroBiasNoiseScaler;
}
}