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AP_NavEKF3: Adjust gyro bias process noise tuning

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NEw value is a compromise between roll/pitch angle and horizontal state velocity estimation errors and the noise in the gyro bias estimate
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Paul Riseborough 2021-07-15 17:22:21 +10:00 committed by Andrew Tridgell
parent ff1c465a17
commit 5eb7751682
1 changed files with 4 additions and 4 deletions
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8
libraries/AP_NavEKF3/AP_NavEKF3.cpp
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@ -24,7 +24,7 @@
#define MAG_M_NSE_DEFAULT 0.05f #define MAG_M_NSE_DEFAULT 0.05f
#define GYRO_P_NSE_DEFAULT 1.0E-02f #define GYRO_P_NSE_DEFAULT 1.0E-02f
#define ACC_P_NSE_DEFAULT 2.5E-01f #define ACC_P_NSE_DEFAULT 2.5E-01f
#define GBIAS_P_NSE_DEFAULT 1.0E-04f #define GBIAS_P_NSE_DEFAULT 3.0E-04f
#define ABIAS_P_NSE_DEFAULT 1.0E-03f #define ABIAS_P_NSE_DEFAULT 1.0E-03f
#define MAGB_P_NSE_DEFAULT 1.0E-04f #define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f #define MAGE_P_NSE_DEFAULT 1.0E-03f
@ -50,7 +50,7 @@
#define MAG_M_NSE_DEFAULT 0.05f #define MAG_M_NSE_DEFAULT 0.05f
#define GYRO_P_NSE_DEFAULT 1.0E-02f #define GYRO_P_NSE_DEFAULT 1.0E-02f
#define ACC_P_NSE_DEFAULT 2.5E-01f #define ACC_P_NSE_DEFAULT 2.5E-01f
#define GBIAS_P_NSE_DEFAULT 1.0E-04f #define GBIAS_P_NSE_DEFAULT 3.0E-04f
#define ABIAS_P_NSE_DEFAULT 1.0E-03f #define ABIAS_P_NSE_DEFAULT 1.0E-03f
#define MAGB_P_NSE_DEFAULT 1.0E-04f #define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f #define MAGE_P_NSE_DEFAULT 1.0E-03f
@ -76,7 +76,7 @@
#define MAG_M_NSE_DEFAULT 0.05f #define MAG_M_NSE_DEFAULT 0.05f
#define GYRO_P_NSE_DEFAULT 1.0E-02f #define GYRO_P_NSE_DEFAULT 1.0E-02f
#define ACC_P_NSE_DEFAULT 2.5E-01f #define ACC_P_NSE_DEFAULT 2.5E-01f
#define GBIAS_P_NSE_DEFAULT 1.0E-04f #define GBIAS_P_NSE_DEFAULT 3.0E-04f
#define ABIAS_P_NSE_DEFAULT 1.0E-03f #define ABIAS_P_NSE_DEFAULT 1.0E-03f
#define MAGB_P_NSE_DEFAULT 1.0E-04f #define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f #define MAGE_P_NSE_DEFAULT 1.0E-03f
@ -102,7 +102,7 @@
#define MAG_M_NSE_DEFAULT 0.05f #define MAG_M_NSE_DEFAULT 0.05f
#define GYRO_P_NSE_DEFAULT 1.0E-02f #define GYRO_P_NSE_DEFAULT 1.0E-02f
#define ACC_P_NSE_DEFAULT 2.5E-01f #define ACC_P_NSE_DEFAULT 2.5E-01f
#define GBIAS_P_NSE_DEFAULT 1.0E-04f #define GBIAS_P_NSE_DEFAULT 3.0E-04f
#define ABIAS_P_NSE_DEFAULT 1.0E-03f #define ABIAS_P_NSE_DEFAULT 1.0E-03f
#define MAGB_P_NSE_DEFAULT 1.0E-04f #define MAGB_P_NSE_DEFAULT 1.0E-04f
#define MAGE_P_NSE_DEFAULT 1.0E-03f #define MAGE_P_NSE_DEFAULT 1.0E-03f