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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.
This commit is contained in:
Paul Riseborough 2016-02-17 17:21:10 +11:00
parent abf9476853
commit a679cdf1fb
1 changed files with 1 additions and 1 deletions
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EKF/common.h
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@ -141,7 +141,7 @@ struct parameters {
float mag_declination_deg = 0.0f; // magnetic declination in degrees 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 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 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 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 // these parameters control the strictness of GPS quality checks used to determine uf the GPS is