AP_NavEKF : Prevent large magnetic field adaptations early in flight

2014-03-22 08:10:08 +11:00 · 2014-03-22 08:10:08 +11:00 · 7780d55788
commit 7780d55788
parent af2ae30b65
1 changed files with 2 additions and 2 deletions
--- a/libraries/AP_NavEKF/AP_NavEKF.cpp
+++ b/libraries/AP_NavEKF/AP_NavEKF.cpp
@ -2703,11 +2703,11 @@ void NavEKF::CovarianceInit(float roll, float pitch, float yaw)
    P[14][14] = sq(8.0f);
    P[15][15]  = P[14][14];
    // earth magnetic field
-    P[16][16] = sq(0.02f);
+    P[16][16] = sq(0.001f);
    P[17][17] = P[16][16];
    P[18][18] = P[16][16];
    // body magnetic field
-    P[19][19] = sq(0.02f);
+    P[19][19] = sq(0.001f);
    P[20][20] = P[19][19];
    P[21][21] = P[19][19];
 }