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AP_NavEKF: Increase divergence test margin based on analysis of more user flight logs

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Analysis of copter logs has shown cases with a healthy EKF where spikes in EKF4.DS of up to 25% of the threshold have occurred.
A value of closer to 10% for normal operation is preferred.
This commit is contained in:
priseborough 2014-05-22 20:29:26 +10:00 committed by Andrew Tridgell
parent 055d8fe7aa
commit edc79ca2a4
1 changed files with 1 additions and 1 deletions
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libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -3402,7 +3402,7 @@ void NavEKF::checkDivergence()
float tempLength = tempVec.length();
if (tempLength != 0.0f) {
float temp = constrain_float((P[10][10] + P[11][11] + P[12][12]),1e-12f,1e-8f);
scaledDeltaGyrBiasLgth = (1e-6f / temp) * tempVec.length() / dtIMU;
scaledDeltaGyrBiasLgth = (5e-7f / temp) * tempVec.length() / dtIMU;
}
bool divergenceDetected = (scaledDeltaGyrBiasLgth > 1.0f);
lastGyroBias = state.gyro_bias;