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AP_NavEKF3: apply min GPS accuracy at measurement point

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this fixes an issue a RTK GPS gives 1cm horizontal and vertical
accuracy and that causes the variances to get too small
This commit is contained in:
Andrew Tridgell 2020-08-20 11:31:56 +10:00
parent c6ea39eb66
commit 44d5a923cc
1 changed files with 3 additions and 0 deletions
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3
libraries/AP_NavEKF3/AP_NavEKF3_Measurements.cpp
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@ -564,6 +564,7 @@ void NavEKF3_core::readGpsData()
} else {
gpsSpdAccuracy = MAX(gpsSpdAccuracy,gpsSpdAccRaw);
gpsSpdAccuracy = MIN(gpsSpdAccuracy,50.0f);
gpsSpdAccuracy = MAX(gpsSpdAccuracy,frontend->_gpsHorizVelNoise);
}
gpsPosAccuracy *= (1.0f - alpha);
float gpsPosAccRaw;
@ -572,6 +573,7 @@ void NavEKF3_core::readGpsData()
} else {
gpsPosAccuracy = MAX(gpsPosAccuracy,gpsPosAccRaw);
gpsPosAccuracy = MIN(gpsPosAccuracy,100.0f);
gpsPosAccuracy = MAX(gpsPosAccuracy, frontend->_gpsHorizPosNoise);
}
gpsHgtAccuracy *= (1.0f - alpha);
float gpsHgtAccRaw;
@ -580,6 +582,7 @@ void NavEKF3_core::readGpsData()
} else {
gpsHgtAccuracy = MAX(gpsHgtAccuracy,gpsHgtAccRaw);
gpsHgtAccuracy = MIN(gpsHgtAccuracy,100.0f);
gpsHgtAccuracy = MAX(gpsHgtAccuracy, 1.5f * frontend->_gpsHorizPosNoise);
}
// check if we have enough GPS satellites and increase the gps noise scaler if we don't