Mirror
/
ardupilot
mirror of https://github.com/ArduPilot/ardupilot
5
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

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.
This commit is contained in:
priseborough 2014-05-16 20:59:48 +10:00 committed by Andrew Tridgell
parent 481a55867e
commit d150904dc6
1 changed files with 3 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

6
libraries/AP_NavEKF/AP_NavEKF.cpp
View File

@ -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