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mag_cal: increase uncertainty of calibration parameters 

in air bias estimation is usually really accurate and should be weighted
more heavily compared to the calibration parameters that are often
more approximate given the worse magnetic environment near the ground.
This commit is contained in:
bresch 2023-07-06 15:07:29 +02:00 committed by Daniel Agar
parent 9e2e888f5e
commit 9ebfed010f
1 changed files with 1 additions and 1 deletions
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src/modules/sensors/vehicle_magnetometer/VehicleMagnetometer.cpp
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@ -259,7 +259,7 @@ void VehicleMagnetometer::UpdateMagCalibration()
// State variance assumed for magnetometer bias storage.
// This is a reference variance used to calculate the fraction of learned magnetometer bias that will be used to update the stored value.
// Larger values cause a larger fraction of the learned biases to be used.
static constexpr float magb_vref = 2.5e-7f;
static constexpr float magb_vref = 2.5e-6f;
static constexpr float min_var_allowed = magb_vref * 0.01f;
static constexpr float max_var_allowed = magb_vref * 500.f;