From a679cdf1fb829075f06b7073a8e57da0f9686ab0 Mon Sep 17 00:00:00 2001 From: Paul Riseborough Date: Wed, 17 Feb 2016 17:21:10 +1100 Subject: [PATCH] EKF: Change parameter default to not fuse declination when aiding Ground and flight testing has shown declination drift to not be a problem with current tuning and realistic vehicle motion. --- EKF/common.h | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/EKF/common.h b/EKF/common.h index 9cf70fef8c..49ff1318ed 100644 --- a/EKF/common.h +++ b/EKF/common.h @@ -141,7 +141,7 @@ struct parameters { float mag_declination_deg = 0.0f; // magnetic declination in degrees float heading_innov_gate = 3.0f; // heading fusion innovation consistency gate size in standard deviations float mag_innov_gate = 3.0f; // magnetometer fusion innovation consistency gate size in standard deviations - int mag_declination_source = 7; // bitmask used to control the handling of declination data + int mag_declination_source = 3; // bitmask used to control the handling of declination data int mag_fusion_type = 0; // integer used to specify the type of magnetometer fusion used // these parameters control the strictness of GPS quality checks used to determine uf the GPS is