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AP_NavEKF: Fix bug in bias rate of change limiting 

This doesn't change the behaviour, but means the result is achieved using the correct parameters, and comments are consistent
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priseborough 2014-11-15 17:26:26 +11:00 committed by Andrew Tridgell
parent 599e53f3f2
commit c8fb376cc4
1 changed files with 3 additions and 3 deletions
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6
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -409,7 +409,7 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) :
_msecBetaAvg = 100; // average number of msec between synthetic sideslip measurements
_msecBetaMax = 200; // maximum number of msec between synthetic sideslip measurements
_msecFlowAvg = 100; // average number of msec between optical flow measurements
dtVelPos = 0.02; // number of seconds between position and velocity corrections. This should be a multiple of the imu update interval.
dtVelPos = 0.2; // number of seconds between position and velocity corrections. This should be a multiple of the imu update interval.
// Misc initial conditions
hgtRate = 0.0f;
@ -2121,8 +2121,8 @@ void NavEKF::FuseVelPosNED()
// Calculate height measurement innovations using single IMU states
float hgtInnov1 = statesAtHgtTime.posD1 - observation[obsIndex];
float hgtInnov2 = statesAtHgtTime.posD2 - observation[obsIndex];
// Correct single IMU prediction states using height measurement, limiting rate of change of bias to 0.02 m/s3
float correctionLimit = 0.02f * dtIMU *dtVelPos;
// Correct single IMU prediction states using height measurement, limiting rate of change of bias to 0.002 m/s3
float correctionLimit = 0.002f * dtIMU * dtVelPos;
state.accel_zbias1 -= constrain_float(Kfusion[13] * hgtInnov1, -correctionLimit, correctionLimit); // IMU1 Z accel bias
state.accel_zbias2 -= constrain_float(Kfusion[22] * hgtInnov2, -correctionLimit, correctionLimit); // IMU2 Z accel bias
for (uint8_t i = 23; i<=26; i++) {