diff --git a/libraries/AP_NavEKF/AP_NavEKF.cpp b/libraries/AP_NavEKF/AP_NavEKF.cpp index 9432aa7e99..f763d487be 100644 --- a/libraries/AP_NavEKF/AP_NavEKF.cpp +++ b/libraries/AP_NavEKF/AP_NavEKF.cpp @@ -110,7 +110,7 @@ extern const AP_HAL::HAL& hal; // initial imu bias uncertainty (deg/sec) #define INIT_GYRO_BIAS_UNCERTAINTY 0.1f -#define INIT_ACCEL_BIAS_UNCERTAINTY 0.5f +#define INIT_ACCEL_BIAS_UNCERTAINTY 0.3f // Define tuning parameters const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = { @@ -389,7 +389,7 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) : magFailTimeLimit_ms(10000), // number of msec before a magnetometer failing innovation consistency checks is declared failed (msec) magVarRateScale(0.05f), // scale factor applied to magnetometer variance due to angular rate gyroBiasNoiseScaler(2.0f), // scale factor applied to imu gyro bias learning before the vehicle is armed - accelBiasNoiseScaler(1.4f), // scale factor applied to imu accel bias learning before the vehicle is armed + accelBiasNoiseScaler(1.0f), // scale factor applied to imu accel bias learning before the vehicle is armed msecGpsAvg(200), // average number of msec between GPS measurements msecHgtAvg(100), // average number of msec between height measurements msecMagAvg(100), // average number of msec between magnetometer measurements