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b61a6c64d7
ardupilot/libraries/AP_NavEKF
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priseborough b61a6c64d7 AP_NavEKF : Reduce weighting on GPS when not enough satellites 
GPS measurement variance is doubled if only 5 satellites, and quadrupled if 4 or less.
The GPS glitch rejection thresholds remain the same
This will reduce the impact of GPS glitches on attitude.
2014-10-01 12:55:29 +10:00
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AP_NavEKF.cpp AP_NavEKF : Reduce weighting on GPS when not enough satellites 2014-10-01 12:55:29 +10:00
AP_NavEKF.h AP_NavEKF : Reduce weighting on GPS when not enough satellites 2014-10-01 12:55:29 +10:00