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AP_NavEKF: Correct the setting process of variable dAngBiasSigma.

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murata 2016-11-23 23:45:29 +09:00 committed by Francisco Ferreira
parent ec42ddfb4e
commit de153ce1d7
1 changed files with 0 additions and 1 deletions
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libraries/AP_NavEKF/AP_NavEKF_core.cpp
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@ -974,7 +974,6 @@ void NavEKF_core::CovariancePrediction() OPT_MATHS
magBodySigma = 0.0f;
}
for (uint8_t i= 0; i<=9; i++) processNoise[i] = 1.0e-9f;
for (uint8_t i=10; i<=12; i++) processNoise[i] = dAngBiasSigma;
// scale gyro bias noise when disarmed to allow for faster bias estimation
for (uint8_t i=10; i<=12; i++) {
processNoise[i] = dAngBiasSigma;