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AP_NavEKF: Improve rate of accel bias learning before flight

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Paul Riseborough 2015-04-27 05:44:57 +10:00 committed by Randy Mackay
parent 8dc6354a54
commit d273302ce7
1 changed files with 6 additions and 1 deletions
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5
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -2048,7 +2048,12 @@ void NavEKF::FuseVelPosNED()
// calculate weighting used by fuseVelPosNED to do IMU accel data blending
// this is used to detect and compensate for aliasing errors with the accelerometers
// provide for a first order lowpass filter to reduce noise on the weighting if required
// set weighting to 0.5 when on ground to allow more rapid learning of bias errors without 'ringing' in bias estimates
if (vehicleArmed) {
IMU1_weighting = 1.0f * (K1 / (K1 + K2)) + 0.0f * IMU1_weighting; // filter currently inactive
} else {
IMU1_weighting = 0.5f;
}
// apply an innovation consistency threshold test, but don't fail if bad IMU data
// calculate the test ratio
velTestRatio = innovVelSumSq / (varVelSum * sq(_gpsVelInnovGate));