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AP_NavEKF: reduce height at which nav gain reduction starts

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priseborough 2014-11-18 05:51:40 +11:00 committed by Andrew Tridgell
parent 5785272933
commit a905432ffe
1 changed files with 1 additions and 1 deletions
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libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -3630,7 +3630,7 @@ void NavEKF::getEkfControlLimits(float &ekfGndSpdLimit, float &ekfNavVelGainScal
// allow 1.0 rad/sec margin for angular motion
ekfGndSpdLimit = max((_maxFlowRate - 1.0f), 0.0f) * max((flowStates[1] - state.position[2]), 0.1f);
// use standard gains up to 5.0 metres height and reduce above that
ekfNavVelGainScaler = 5.0f / max((flowStates[1] - state.position[2]),5.0f);
ekfNavVelGainScaler = 3.0f / max((flowStates[1] - state.position[2]),3.0f);
} else {
ekfGndSpdLimit = 400.0f; //return 80% of max filter speed
ekfNavVelGainScaler = 1.0f;