From ff2782b79022ab8a8965ec0a47f95abbea429d98 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 18 Nov 2015 19:05:58 +1100 Subject: [PATCH] AP_NavEKF2: Parameter changes to reduce noise on gyro bias estimates --- libraries/AP_NavEKF2/AP_NavEKF2.cpp | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/libraries/AP_NavEKF2/AP_NavEKF2.cpp b/libraries/AP_NavEKF2/AP_NavEKF2.cpp index 636edace3d..eb82f5fd38 100644 --- a/libraries/AP_NavEKF2/AP_NavEKF2.cpp +++ b/libraries/AP_NavEKF2/AP_NavEKF2.cpp @@ -21,7 +21,7 @@ #define MAG_NOISE_DEFAULT 0.05f #define GYRO_PNOISE_DEFAULT 0.001f #define ACC_PNOISE_DEFAULT 0.25f -#define GBIAS_PNOISE_DEFAULT 7.0E-05f +#define GBIAS_PNOISE_DEFAULT 3.5E-05f #define ABIAS_PNOISE_DEFAULT 1.0E-04f #define MAG_PNOISE_DEFAULT 2.5E-02f #define VEL_GATE_DEFAULT 200 @@ -93,7 +93,7 @@ #define MAG_NOISE_DEFAULT 0.05f #define GYRO_PNOISE_DEFAULT 0.001f #define ACC_PNOISE_DEFAULT 0.25f -#define GBIAS_PNOISE_DEFAULT 7.0E-05f +#define GBIAS_PNOISE_DEFAULT 3.5E-05f #define ABIAS_PNOISE_DEFAULT 1.0E-04f #define MAG_PNOISE_DEFAULT 2.5E-02f #define VEL_GATE_DEFAULT 200