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AP_NavEKF: reduced On Ground yaw gyro bias drift variance scaler

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Paul Riseborough 2014-01-04 16:32:21 +11:00 committed by Andrew Tridgell
parent 619fffec3e
commit fec4fd463c
1 changed files with 1 additions and 1 deletions
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2
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -30,7 +30,7 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro) :
fusionModeGPS(0), // 0 = GPS outputs 3D velocity, 1 = GPS outputs 2D velocity, 2 = GPS outputs, no velocity, 3 = Force postion and velocity measurements to zero (only used during pre-arm or ground testing)
covTimeStepMax(0.07f), // maximum time (sec) between covariance prediction updates
covDelAngMax(0.05f), // maximum delta angle between covariance prediction updates
yawVarScale(2.0f), // scale factor applied to yaw gyro errors when on ground
yawVarScale(1.0f), // scale factor applied to yaw gyro errors when on ground
TASmsecMax(333), // maximum allowed interal between airspeed measurement updates
MAGmsecMax(333), // maximum allowed interval between magnetometer measurement updates
HGTmsecMax(1000), // maximum interval between height measurement updates