From d150904dc6a549ee982ea16f20a17d89a56588de Mon Sep 17 00:00:00 2001 From: priseborough Date: Fri, 16 May 2014 20:59:48 +1000 Subject: [PATCH] AP_NavEKF: Increase gyro bias process noise This is required to stop the bias estimate from becoming too static towards the end of longer flights. --- libraries/AP_NavEKF/AP_NavEKF.cpp | 6 +++--- 1 file changed, 3 insertions(+), 3 deletions(-) diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp index 42223dd4d7..00d87bba1c 100644 --- a/libraries/AP_NavEKF/AP_NavEKF.cpp +++ b/libraries/AP_NavEKF/AP_NavEKF.cpp @@ -34,7 +34,7 @@ #define MAG_NOISE_DEFAULT 0.05f #define GYRO_PNOISE_DEFAULT 0.015f #define ACC_PNOISE_DEFAULT 0.25f -#define GBIAS_PNOISE_DEFAULT 1E-07f +#define GBIAS_PNOISE_DEFAULT 1E-06f #define ABIAS_PNOISE_DEFAULT 0.0001f #define MAGE_PNOISE_DEFAULT 0.0003f #define MAGB_PNOISE_DEFAULT 0.0003f @@ -55,7 +55,7 @@ #define MAG_NOISE_DEFAULT 0.05f #define GYRO_PNOISE_DEFAULT 0.015f #define ACC_PNOISE_DEFAULT 0.25f -#define GBIAS_PNOISE_DEFAULT 1E-07f +#define GBIAS_PNOISE_DEFAULT 1E-06f #define ABIAS_PNOISE_DEFAULT 0.0001f #define MAGE_PNOISE_DEFAULT 0.0003f #define MAGB_PNOISE_DEFAULT 0.0003f @@ -76,7 +76,7 @@ #define MAG_NOISE_DEFAULT 0.05f #define GYRO_PNOISE_DEFAULT 0.015f #define ACC_PNOISE_DEFAULT 0.25f -#define GBIAS_PNOISE_DEFAULT 1E-07f +#define GBIAS_PNOISE_DEFAULT 1E-06f #define ABIAS_PNOISE_DEFAULT 0.0001f #define MAGE_PNOISE_DEFAULT 0.0003f #define MAGB_PNOISE_DEFAULT 0.0003f