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EKF2: increase default of EKF2_WIND_NSD and EKF2_TAS_GATE 

Increasing the wind process noise results in a more dynamic
wind estimation, which is capable of catching fast-varying
winds. As wind is used in the lateral guidance it's important
that we don't filter it too much.
Furher the gate of the airspeed fusion is increased, to
reduce the likelihood of airspeed fusion stopping due to
dynamic wind conditions. The airspeed is validated in
the airspeed validator (EKF consumes the validated one).

Signed-off-by: Silvan Fuhrer <silvan@auterion.com>
This commit is contained in:
Silvan Fuhrer 2023-06-26 18:38:00 +02:00
parent ec20f92558
commit 0a271b1982
1 changed files with 2 additions and 2 deletions
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4
src/modules/ekf2/ekf2_params.c
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@ -342,7 +342,7 @@ PARAM_DEFINE_FLOAT(EKF2_MAG_E_NOISE, 1.0e-3f);
* @unit m/s^2/sqrt(Hz)
* @decimal 3
*/
PARAM_DEFINE_FLOAT(EKF2_WIND_NSD, 1.0e-2f);
PARAM_DEFINE_FLOAT(EKF2_WIND_NSD, 5.0e-2f);
/**
* Measurement noise for gps horizontal velocity.
@ -601,7 +601,7 @@ PARAM_DEFINE_FLOAT(EKF2_GPS_V_GATE, 5.0f);
* @unit SD
* @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_TAS_GATE, 3.0f);
PARAM_DEFINE_FLOAT(EKF2_TAS_GATE, 5.0f);
/**
* Will be removed after v1.14 release