ardupilot/libraries/AP_NavEKF2
Paul Riseborough 55ac8f0230 AP_NavEKF2: Update parameter values.
Testing on different platforms has shown that the new EKF has smaller innovations enabling innovation consistency checks that reject GPS and baro errors to be tightened.
The position and velocity thresholds for plane have been left the same because planes are less sensitive to GPS glitches as they fly higher and with more separation to surrounding objects. They are also more prone to bad inertial data due to the installation practices.
The altitude noise has been increased on plane to allow for the larger baro disturbances that result from the higher speeds and lack of a proper static pressure source. The innovation consistency gate has been adjusted to provide the same baro error limit of ~20m before baro is rejected.
2015-10-24 07:26:50 +11:00
..
AP_NavEKF2.cpp AP_NavEKF2: Update parameter values. 2015-10-24 07:26:50 +11:00
AP_NavEKF2.h AP_NavEKF2: Reduce effect of rounding errors on covariance prediction 2015-10-20 15:21:37 +11:00
AP_NavEKF2_AirDataFusion.cpp AP_NavEKF: prevent high rate mag data locking out other data fusion 2015-10-20 20:16:04 +11:00
AP_NavEKF2_Control.cpp AP_NavEKF: Reduce roll/pitch disturbance when magnetic field is reset 2015-10-23 19:04:30 +11:00
AP_NavEKF2_MagFusion.cpp AP_NavEKF2: Improve handling of GPS loss and recovery for planes 2015-10-24 07:17:11 +11:00
AP_NavEKF2_Measurements.cpp AP_NavEKF2: Ensure consistent position and velocity fusion rates when not using GPS 2015-10-21 17:27:00 +11:00
AP_NavEKF2_OptFlowFusion.cpp AP_NavEKF: prevent high rate mag data locking out other data fusion 2015-10-20 20:16:04 +11:00
AP_NavEKF2_Outputs.cpp AP_NavEKF: Fix bug allowing takeoff in GPS modes without aiding 2015-10-20 20:16:00 +11:00
AP_NavEKF2_PosVelFusion.cpp AP_NavEKF2: Improve handling of GPS loss and recovery for planes 2015-10-24 07:17:11 +11:00
AP_NavEKF2_VehicleStatus.cpp AP_NavEKF2: use common header for optimisation level and irq disable 2015-10-20 15:21:40 +11:00
AP_NavEKF2_core.cpp AP_NavEKF: Reduce roll/pitch disturbance when magnetic field is reset 2015-10-23 19:04:30 +11:00
AP_NavEKF2_core.h AP_NavEKF: Reduce roll/pitch disturbance when magnetic field is reset 2015-10-23 19:04:30 +11:00
AP_NavEKF_GyroBias.cpp AP_NavEKF2: use common header for optimisation level and irq disable 2015-10-20 15:21:40 +11:00