aepko/Ardupilot2
1
0
Fork 0
Code Issues Pull Requests Actions Packages Projects Releases Wiki Activity

AP_NavEKF: Predict covariance more often to prevent instability on startup

Browse Source 
If the baro data and magnetometer data are interleaved (arriving every 100 msec and offset by 50 msec), then the filter will go unstable during startup and fail to complete checks.
This commit is contained in:
Paul Riseborough 2015-10-22 09:56:09 +11:00 committed by Randy Mackay
parent 63b42e0632
commit 6c017ffcb5
1 changed files with 1 additions and 1 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

2
libraries/AP_NavEKF/AP_NavEKF.cpp
View File

@ -434,7 +434,7 @@ NavEKF::NavEKF(const AP_AHRS *ahrs, AP_Baro &baro, const RangeFinder &rng) :
msecBetaMax(200), // maximum number of msec between synthetic sideslip measurements
msecFlowAvg(100), // average number of msec between optical flow measurements
dtVelPos(0.2f), // number of seconds between position and velocity corrections. This should be a multiple of the imu update interval.
covTimeStepMax(0.07f), // maximum time (sec) between covariance prediction updates
covTimeStepMax(0.02f), // maximum time (sec) between covariance prediction updates
covDelAngMax(0.05f), // maximum delta angle between covariance prediction updates
TASmsecMax(200), // maximum allowed interval between airspeed measurement updates
DCM33FlowMin(0.71f), // If Tbn(3,3) is less than this number, optical flow measurements will not be fused as tilt is too high.