From fa435d032371b24fb318e5d396c67451766f31bf Mon Sep 17 00:00:00 2001 From: priseborough Date: Thu, 30 Jun 2016 21:12:13 +1000 Subject: [PATCH] AP_NavEKF2: Allow for faster accel bias change in-flight Fixes a problem observed in a flight log where rapid temperature change caused the accel bias to change faster than the EKF could keep up. This allows the bias to be learned faster but with acceptable level of noise in the estimate --- libraries/AP_NavEKF2/AP_NavEKF2.cpp | 8 ++++---- 1 file changed, 4 insertions(+), 4 deletions(-) diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp index 587f766a4a..9d0da3371f 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp @@ -24,7 +24,7 @@ #define ACC_P_NSE_DEFAULT 6.0E-01f #define GBIAS_P_NSE_DEFAULT 1.0E-04f #define GSCALE_P_NSE_DEFAULT 5.0E-04f -#define ABIAS_P_NSE_DEFAULT 1.0E-03f +#define ABIAS_P_NSE_DEFAULT 5.0E-03f #define MAGB_P_NSE_DEFAULT 5.0E-04f #define MAGE_P_NSE_DEFAULT 5.0E-03f #define VEL_I_GATE_DEFAULT 500 @@ -49,7 +49,7 @@ #define ACC_P_NSE_DEFAULT 6.0E-01f #define GBIAS_P_NSE_DEFAULT 1.0E-04f #define GSCALE_P_NSE_DEFAULT 5.0E-04f -#define ABIAS_P_NSE_DEFAULT 1.0E-03f +#define ABIAS_P_NSE_DEFAULT 5.0E-03f #define MAGB_P_NSE_DEFAULT 5.0E-04f #define MAGE_P_NSE_DEFAULT 5.0E-03f #define VEL_I_GATE_DEFAULT 500 @@ -74,7 +74,7 @@ #define ACC_P_NSE_DEFAULT 6.0E-01f #define GBIAS_P_NSE_DEFAULT 1.0E-04f #define GSCALE_P_NSE_DEFAULT 5.0E-04f -#define ABIAS_P_NSE_DEFAULT 1.0E-03f +#define ABIAS_P_NSE_DEFAULT 5.0E-03f #define MAGB_P_NSE_DEFAULT 5.0E-04f #define MAGE_P_NSE_DEFAULT 5.0E-03f #define VEL_I_GATE_DEFAULT 500 @@ -99,7 +99,7 @@ #define ACC_P_NSE_DEFAULT 6.0E-01f #define GBIAS_P_NSE_DEFAULT 1.0E-04f #define GSCALE_P_NSE_DEFAULT 5.0E-04f -#define ABIAS_P_NSE_DEFAULT 1.0E-03f +#define ABIAS_P_NSE_DEFAULT 5.0E-03f #define MAGB_P_NSE_DEFAULT 5.0E-04f #define MAGE_P_NSE_DEFAULT 5.0E-03f #define VEL_I_GATE_DEFAULT 500