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AP_NavEKF : Changed default IMU bias process noise to use smallest value

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Paul Riseborough 2014-02-23 14:36:45 +11:00 committed by priseborough
parent 89e0b48320
commit 36d619ec3a
1 changed files with 2 additions and 2 deletions
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4
libraries/AP_NavEKF/AP_NavEKF.cpp
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@ -110,14 +110,14 @@ const AP_Param::GroupInfo NavEKF::var_info[] PROGMEM = {
// @Description: This noise controls the growth of gyro bias state error estimates. Increasing it makes rate gyro bias estimation faster and noisier.
// @Range: 0.0000001 - 0.00001
// @User: advanced
AP_GROUPINFO("GBIAS_PNOISE", 10, NavEKF, _gyroBiasProcessNoise, 2.0e-6f),
AP_GROUPINFO("GBIAS_PNOISE", 10, NavEKF, _gyroBiasProcessNoise, 1.0e-7f),
// @Param: ABIAS_PNOISE
// @DisplayName: Accelerometer bias state process noise (m/s^2)
// @Description: This noise controls the growth of the vertical acelerometer bias state error estimate. Increasing it makes accelerometer bias estimation faster and noisier.
// @Range: 0.0001 - 0.01
// @User: advanced
AP_GROUPINFO("ABIAS_PNOISE", 11, NavEKF, _accelBiasProcessNoise, 1.0e-3f),
AP_GROUPINFO("ABIAS_PNOISE", 11, NavEKF, _accelBiasProcessNoise, 1.0e-4f),
// @Param: MAGE_PNOISE
// @DisplayName: Earth magnetic field states process noise (gauss/s)