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EKF2 update GPS and airspeed delay defaults (#7353) 

* update ecl to latest

* EKF2_GPS_DELAY change default 200ms -> 110ms

 - 110msec is more representative of what most users are flying

* EKF2_ASP_DELAY change default 200ms -> 100ms

The EKF is relatively insensitive to airspeed sensor delays and the effective delay is installation specific, so it has been set to a value that does not cause the data buffers to be longer than is required to accomodate GPS delays.
This commit is contained in:
Daniel Agar 2017-06-04 20:31:46 -04:00 committed by Paul Riseborough
parent 6fbf09d8da
commit 833cdc9236
2 changed files with 3 additions and 3 deletions
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2
src/lib/ecl

@ -1 +1 @@
Subproject commit 9dee57f9ca5b9665fb9fba051bb20a6a010311c0
Subproject commit d0b4f1e225a5252d543cbc419d642277df535ee7

4
src/modules/ekf2/ekf2_params.c
View File

@ -82,7 +82,7 @@ PARAM_DEFINE_FLOAT(EKF2_BARO_DELAY, 0);
* @unit ms
* @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_GPS_DELAY, 200);
PARAM_DEFINE_FLOAT(EKF2_GPS_DELAY, 110);
/**
* Optical flow measurement delay relative to IMU measurements
@ -116,7 +116,7 @@ PARAM_DEFINE_FLOAT(EKF2_RNG_DELAY, 5);
* @unit ms
* @decimal 1
*/
PARAM_DEFINE_FLOAT(EKF2_ASP_DELAY, 200);
PARAM_DEFINE_FLOAT(EKF2_ASP_DELAY, 100);
/**
* Vision Position Estimator delay relative to IMU measurements