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commander: update EKF accel & gyro bias arming limits 

- these should have been rescaled when the ecl/EKF filter update period changed from 8 ms -> 10 ms
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Daniel Agar 2020-05-07 01:21:47 -04:00 committed by GitHub
parent fa64c3862d
commit 41660c3550
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GPG Key ID: 4AEE18F83AFDEB23
1 changed files with 3 additions and 3 deletions
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6
src/modules/commander/commander_params.c
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@ -569,7 +569,7 @@ PARAM_DEFINE_FLOAT(COM_ARM_EKF_YAW, 0.5f);
* @decimal 4
* @increment 0.0001
*/
PARAM_DEFINE_FLOAT(COM_ARM_EKF_AB, 1.73e-3f);
PARAM_DEFINE_FLOAT(COM_ARM_EKF_AB, 0.0022f);
/**
* Maximum value of EKF gyro delta angle bias estimate that will allow arming
@ -578,10 +578,10 @@ PARAM_DEFINE_FLOAT(COM_ARM_EKF_AB, 1.73e-3f);
* @unit rad
* @min 0.0001
* @max 0.0017
* @decimal 5
* @decimal 4
* @increment 0.0001
*/
PARAM_DEFINE_FLOAT(COM_ARM_EKF_GB, 8.7e-4f);
PARAM_DEFINE_FLOAT(COM_ARM_EKF_GB, 0.0011f);
/**
* Maximum accelerometer inconsistency between IMU units that will allow arming