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AP_NavEKF: Added gyro bias variance scale for on-ground

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Paul Riseborough 2013-12-31 17:06:56 +11:00 committed by Andrew Tridgell
parent cb42e1e490
commit aed6c79135
1 changed files with 1 additions and 0 deletions
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libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -374,6 +374,7 @@ 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;
if (onGround) processNoise[12] = dAngBiasSigma * yawVarScale;
for (uint8_t i=13; i<=15; i++) processNoise[i] = dVelBiasSigma;
for (uint8_t i=16; i<=17; i++) processNoise[i] = windVelSigma;
for (uint8_t i=18; i<=20; i++) processNoise[i] = magEarthSigma;