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AP_NavEKF3: Raise lower limit on del vel bias state variances

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This is required to prevent co-variance matrix errors due to long periods without movement causing height divergence.
This commit is contained in:
priseborough 2017-05-21 20:40:25 +10:00 committed by Francisco Ferreira
parent 628d140319
commit bf963f8b65
1 changed files with 1 additions and 1 deletions
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libraries/AP_NavEKF3/AP_NavEKF3_core.cpp
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@ -1416,7 +1416,7 @@ void NavEKF3_core::ConstrainVariances()
}
if (!inhibitDelVelBiasStates) {
for (uint8_t i=13; i<=15; i++) P[i][i] = constrain_float(P[i][i],0.0f,sq(10.0f * dtEkfAvg));
for (uint8_t i=13; i<=15; i++) P[i][i] = constrain_float(P[i][i],1e-9f,sq(10.0f * dtEkfAvg));
} else {
zeroCols(P,13,15);
zeroRows(P,13,15);